PeriodicExecutionContextTests.cpp

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// -*- C++ -*-
/*
 * $Log: PeriodicExecutionContextTests.cpp,v $
 * Revision 1.3  2008/04/11 13:19:07  arafune
 * Added some new tests.
 *
 * Revision 1.2  2008/04/09 13:10:37  arafune
 * Added attach_executioncontext/detach_executioncontext method to the DFP class.
 *
 * Revision 1.1  2007/12/20 07:50:19  arafune
 * *** empty log message ***
 *
 * Revision 1.2  2007/04/13 15:04:39  n-ando
 * Now RTC::OK becomes RTC::RTC_OK in RTC.idl.
 *
 * Revision 1.1  2007/01/21 13:07:20  n-ando
 * *** empty log message ***
 *
 *
 */

#ifndef PeriodicExecutionContext_cpp
#define PeriodicExecutionContext_cpp

#include <cppunit/ui/text/TestRunner.h>
#include <cppunit/TextOutputter.h>
#include <cppunit/extensions/TestFactoryRegistry.h>
#include <cppunit/extensions/HelperMacros.h>
#include <cppunit/TestAssert.h>

#include <rtm/idl/RTCSkel.h>
#include <rtm/PeriodicExecutionContext.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/RTObject.h>

namespace PeriodicExecutionContext
{
  class LightweightRTObjectMock
    : public virtual POA_RTC::LightweightRTObject,
      public virtual PortableServer::RefCountServantBase
  {
  protected:
    typedef std::map<RTC::UniqueId, RTC::ExecutionContext_ptr> ExecContexts;
    CORBA::Long m_nextUniqueId;
    ExecContexts m_execContexts;
    std::vector<std::string> m_log;
    bool m_alive;
    bool m_error;
        
  public:
    LightweightRTObjectMock()
      : m_alive(true), m_error(false)
    {
    }
                
    // RTC::_impl_ComponentAction
    virtual RTC::UniqueId attach_context(RTC::ExecutionContext_ptr exec_context)
    {
      m_log.push_back("attach_executioncontext");
      m_execContexts.insert(
                            std::pair<RTC::UniqueId, RTC::ExecutionContext_ptr>(m_nextUniqueId++, exec_context));
      return m_nextUniqueId;
    }
    virtual RTC::ReturnCode_t detach_context(RTC::UniqueId ec_id)
    {
      m_log.push_back("detach_executioncontext");
      m_execContexts.erase(ec_id);
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_initialize()
    {
      m_log.push_back("on_initialize");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_finalize()
    {
      m_log.push_back("on_finalize");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_startup(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_startup");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_shutdown(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_shutdown");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_activated(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_activated");
      return returnCode(RTC::RTC_OK);
    }
    virtual RTC::ReturnCode_t on_deactivated(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_deactivated");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_aborting(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_aborting");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_error(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_error");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t on_reset(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_reset");
      return RTC::RTC_OK;
    }
    
    // RTC::_impl_LightweightRTObject
    virtual RTC::ReturnCode_t initialize()
    {
      m_log.push_back("initialize");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t finalize()
    {
      m_log.push_back("finalize");
      return RTC::RTC_OK;
    }
    virtual RTC::ReturnCode_t exit()
    {
      m_log.push_back("exit");
      return RTC::RTC_OK;
    }
    virtual CORBA::Boolean is_alive(RTC::_objref_ExecutionContext* exec_context)
    { 
      m_log.push_back("is_alive");
      return CORBA::Boolean(m_alive);
    }
    virtual RTC::ExecutionContextList* get_owned_contexts()
    {
      m_log.push_back("get_contexts");
      return 0;
    }
    virtual RTC::ExecutionContextList* get_participating_contexts()
    {
      m_log.push_back("get_context");
      return 0;
//      return m_execContexts[ec_id];
    }

    virtual RTC::_objref_ExecutionContext* get_context(RTC::ExecutionContextHandle_t)
    {
      return 0;
    }
    virtual RTC::ExecutionContextHandle_t get_context_handle(RTC::_objref_ExecutionContext*)
    {
      return 0;
    }
  public: // helper methods
    int countLog(std::string line)
    {
      int count = 0;
      for (int i = 0; i < (int) m_log.size(); ++i)
        {
          if (m_log[i] == line) ++count;
        }
      return count;
    }
                
    void setAlive(bool alive)
    {
      m_alive = alive;
    }
                
    void setError(bool error)
    {
      m_error = error;
    }
        
  private:
    RTC::ReturnCode_t returnCode(RTC::ReturnCode_t rc)
    {
      return m_error ? RTC::RTC_ERROR : rc;
    }
  };
        
  class DataFlowComponentMock
//    : public virtual POA_RTC::DataFlowComponent,
    : public virtual POA_OpenRTM::DataFlowComponent,
      public virtual LightweightRTObjectMock
  {
  public:
    // SDOPackage::_impl_SDOSystemElement
    virtual SDOPackage::OrganizationList* get_owned_organizations()
      throw (SDOPackage::NotAvailable)
    {
      m_log.push_back("get_owned_organizations");
      return 0; // dummy
    }
    virtual char* get_sdo_id()
      throw (SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_sdo_id");
      return 0; // dummy
    }
    virtual char* get_sdo_type()
      throw (SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_sdo_type");
      return 0; // dummy
    }
    virtual SDOPackage::DeviceProfile* get_device_profile()
      throw (SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_device_profile");
      return 0; // dummy
    }
    virtual SDOPackage::ServiceProfileList* get_service_profiles()
      throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_service_profiles");
      return 0; // dummy
    }
    virtual SDOPackage::ServiceProfile* get_service_profile(const char* id)
      throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_service_profile");
      return 0; // dummy
    }
    virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id)
      throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_sdo_service");
      return SDOPackage::SDOService::_nil(); // dummy
    }
    virtual SDOPackage::Configuration_ptr get_configuration()
      throw (SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_configuration");
      return SDOPackage::Configuration::_nil(); // dummy
    }
    virtual SDOPackage::Monitoring_ptr get_monitoring()
      throw (SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_monitoring");
      return SDOPackage::Monitoring::_nil(); // dummy
    }
    virtual SDOPackage::OrganizationList* get_organizations()
      throw (SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_organizations");
      return 0; // dummy
    }
    virtual SDOPackage::NVList* get_status_list()
      throw (SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_status_list");
      return 0; // dummy
    }
    virtual CORBA::Any* get_status(const char* name)
      throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
    {
      m_log.push_back("get_status");
      return 0; // dummy
    }

    // RTC::_impl_RTObject
    virtual RTC::ComponentProfile* get_component_profile()
    {
      m_log.push_back("get_component_profile");
      // dummy
      RTC::ComponentProfile_var prof(new RTC::ComponentProfile());
      return prof._retn();
    }
    virtual RTC::PortServiceList* get_ports()
    {
      m_log.push_back("get_ports");
      // dummy
      RTC::PortServiceList_var ports(new RTC::PortServiceList());
      ports->length(0);
      return ports._retn();
    }
    virtual RTC::ExecutionContextServiceList* get_execution_context_services()
    {
      m_log.push_back("get_execution_context_services");
      // dummy
      RTC::ExecutionContextServiceList_var ec = new RTC::ExecutionContextServiceList();
      ec->length(0);
      return ec._retn();
    }

    // RTC::_impl_DataFlowComponentAction
    virtual RTC::ReturnCode_t on_execute(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_execute");
      return RTC::RTC_OK; // dummy
    }
    virtual RTC::ReturnCode_t on_state_update(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_state_update");
      return RTC::RTC_OK; // dummy
    }
    virtual RTC::ReturnCode_t on_rate_changed(RTC::UniqueId ec_id)
    {
      m_log.push_back("on_rate_changed");
      return RTC::RTC_OK; // dummy
    }
  };
        
  class RTObjectMock
    : public RTC::RTObject_impl
  {
  public:
    RTObjectMock(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
      : RTC::RTObject_impl(orb, poa)
    {
    }
    virtual ~RTObjectMock(void){}
  };

  class PeriodicExecutionContextMock
    : public RTC::PeriodicExecutionContext
  {
  public:
    PeriodicExecutionContextMock() : RTC::PeriodicExecutionContext() {}
    virtual ~PeriodicExecutionContextMock(void){}

    // protected: ÊÑ¿ô¤ò¤³¤³¤Ç¹¹¿·
    void set_m_ref()
      {
        RTC::PeriodicExecutionContext::m_ref = m_refmock;
      }
    void clear_m_comps()
      {
        if (!RTC::PeriodicExecutionContext::m_comps.empty())
          {
            RTC::PeriodicExecutionContext::m_comps.clear();
          }
      }
    RTC::ExecutionContextService_var m_refmock;
  };
        
  class PeriodicExecutionContextTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(PeriodicExecutionContextTests);

    CPPUNIT_TEST(test_is_running);
    CPPUNIT_TEST(test_start_invoking_on_startup);
    CPPUNIT_TEST(test_start_with_running);
    CPPUNIT_TEST(test_start_with_not_alive);
    CPPUNIT_TEST(test_stop_invoking_on_shutdown);
    CPPUNIT_TEST(test_stop_with_not_running);
    CPPUNIT_TEST(test_start_and_stop_multiple_times);
    CPPUNIT_TEST(test_set_rate_and_get_rate);
    CPPUNIT_TEST(test_set_rate_with_zero_or_negative_rate);
    CPPUNIT_TEST(test_set_rate_invoking_on_rate_changed);
    CPPUNIT_TEST(test_add_invoking_attach_executioncontext);
    CPPUNIT_TEST(test_add_not_with_data_flow_component);
    CPPUNIT_TEST(test_remove_invoking_detach_executioncontext);
    CPPUNIT_TEST(test_remove_with_not_attached_component);
    CPPUNIT_TEST(test_remove_when_component_is_still_active);
    CPPUNIT_TEST(test_remove_when_component_is_inactive);
    CPPUNIT_TEST(test_activate_component_invoking_on_activated);
    CPPUNIT_TEST(test_activate_component_without_participating);
    CPPUNIT_TEST(test_activate_component_in_Error_state);
    CPPUNIT_TEST(test_activate_component_not_in_Alive_state);
    CPPUNIT_TEST(test_deactivate_component_invoking_on_deactivated);
    CPPUNIT_TEST(test_deactivate_component_without_participating);
    CPPUNIT_TEST(test_deactivate_component_not_in_Alive_state);
    CPPUNIT_TEST(test_reset_component_invoking_on_reset);
    CPPUNIT_TEST(test_reset_component_not_in_Error_state);
    CPPUNIT_TEST(test_reset_component_not_in_Alive_state);
    CPPUNIT_TEST(test_bindComponent);

    CPPUNIT_TEST_SUITE_END();
        
  private:
    CORBA::ORB_ptr m_pORB;
    PortableServer::POA_ptr m_pPOA;
        
  public:

    PeriodicExecutionContextTests()
    {
      int argc(0);
      char** argv(NULL);
      m_pORB = CORBA::ORB_init(argc, argv);
      m_pPOA = PortableServer::POA::_narrow(
                                            m_pORB->resolve_initial_references("RootPOA"));
      m_pPOA->the_POAManager()->activate();
    }
                    
    virtual ~PeriodicExecutionContextTests()
    {
    }
                  
    virtual void setUp()
    {
      coil::usleep(100000);
    }
    
    virtual void tearDown()
    { 
    }
                
    void test_is_running()
    {
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start()¸Æ½Ð¤·Á°¤Ï¡¢Èórunning¾õÂÖ¤«¡©
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
                        
      // start()¸Æ½Ð¤·¸å¤Ï¡¢running¾õÂÖ¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
                        
      // stop()¸Æ½Ð¸å¤Ï¡¢Èórunning¾õÂÖ¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_start_invoking_on_startup()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                                
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_startup()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_startup"));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_startup()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_startup"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤¹¤Ç¤Ërunning¾õÂ֤κݡ¢start()¸Æ½Ð¤¬°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_running()
    {
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start()¸Æ½Ð¤·Á°¤Ï¡¢Èórunning¾õÂ֤ΤϤº
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
                        
      // start()¸Æ½Ð¤·¸å¤Ï¡¢running¾õÂ֤ΤϤº
      ec->start();
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
                        
      // ¤µ¤é¤Ëstart()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->start());

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Alive¾õÂ֤ˤʤ¤¾ì¹ç¤Ëstart()¥á¥½¥Ã¥É¤ò¸Æ½Ð¤·¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_not_alive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                                
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_startup()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_startup"));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_startup()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_startup"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤¹¤Ç¤Ërunning¾õÂ֤κݡ¢start()¸Æ½Ð¤¬°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_running()
    {
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start()¸Æ½Ð¤·Á°¤Ï¡¢Èórunning¾õÂ֤ΤϤº
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
                        
      // start()¸Æ½Ð¤·¸å¤Ï¡¢running¾õÂ֤ΤϤº
      ec->start();
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
                        
      // ¤µ¤é¤Ëstart()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->start());

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Alive¾õÂ֤ˤʤ¤¾ì¹ç¤Ëstart()¥á¥½¥Ã¥É¤ò¸Æ½Ð¤·¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_not_alive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                                
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_startup()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_startup"));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_startup()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_startup"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤¹¤Ç¤Ërunning¾õÂ֤κݡ¢start()¸Æ½Ð¤¬°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_running()
    {
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start()¸Æ½Ð¤·Á°¤Ï¡¢Èórunning¾õÂ֤ΤϤº
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
                        
      // start()¸Æ½Ð¤·¸å¤Ï¡¢running¾õÂ֤ΤϤº
      ec->start();
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
                        
      // ¤µ¤é¤Ëstart()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->start());

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Alive¾õÂ֤ˤʤ¤¾ì¹ç¤Ëstart()¥á¥½¥Ã¥É¤ò¸Æ½Ð¤·¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_not_alive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_startup()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_startup"));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_startup()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_startup"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_start_with_running()
    {
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start()¸Æ½Ð¤·Á°¤Ï¡¢Èórunning¾õÂ֤ΤϤº
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
                        
      // start()¸Æ½Ð¤·¸å¤Ï¡¢running¾õÂ֤ΤϤº
      ec->start();
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
                        
      // ¤µ¤é¤Ëstart()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->start());

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Alive¾õÂ֤ˤʤ¤¾ì¹ç¤Ëstart()¥á¥½¥Ã¥É¤ò¸Æ½Ð¤·¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_start_with_not_alive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->start());

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_start_with_not_alive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - stop()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_shutdown()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_stop_invoking_on_shutdown()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief stop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Èórunning¾õÂÖ¤Çstop()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_shutdown()¤Ï¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_shutdown"));

      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_shutdown()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_shutdown"));

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_stop_with_not_running()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ¤Þ¤Àstart()¤·¤Æ¤¤¤Ê¤¤¾õÂ֤ǡ¢¤Ä¤Þ¤êÈórunning¤Î¾õÂ֤ǡ¢
      // stop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      // start()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // stop()¤ò¸Æ¤Ó½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(true), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
                        
      // ¤µ¤é¤Ëstop()¤ò¸Æ¤Ó½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief start()¥á¥½¥Ã¥É¤Èstop()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - start()¤Èstop()¤ò·«¤êÊÖ¤·Ï¢Â³¤Ç¡¢Àµ¾ï¤Ë¸Æ½Ð¤·¤Ç¤­¤ë¤«¡©
     */
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), ec->is_running());
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->stop());

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_start_and_stop_multiple_times()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Èget_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥ÈÃͤò¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
     */
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // start(), stop()¤òϢ³¤·¤ÆÀµ¾ï¤Ë¸Æ¤Ó½Ð¤»¤ë¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          // start()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

          // stop()¤ò¸Æ¤Ó½Ð¤¹
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());
        }

      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_set_rate_and_get_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @brief set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥ì¡¼¥ÈÃͤË0¤ò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     * - ¥ì¡¼¥ÈÃͤËÉéÃͤò»ØÄꤷ¤Æset_rate()¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // set_rate()¤ÇÀßÄꤷ¤¿¥ì¡¼¥È¤¬¡¢get_rate()¤ÇÀµ¤·¤¯¼èÆÀ¤Ç¤­¤ë¤«¡©
      for (int i = 1; i <= 10; ++i)
        {
          CORBA::Double rate((double) 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(rate));
          CPPUNIT_ASSERT_EQUAL(rate, ec->get_rate());
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_set_rate_with_zero_or_negative_rate()
    {
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    /*!
     * @biref set_rate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - set_rate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_rate_changed()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // 0¤Þ¤¿¤ÏÉé¿ô¤Î¥ì¡¼¥È¤ò»ØÄꤷ¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤«¡©
      for (int i = 0; i < 10; ++i)
        {
          CORBA::Double rate((double) - 1.0 * i);
          CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->set_rate(rate));
        }

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
    }
                
    void test_set_rate_invoking_on_rate_changed()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - add()¥á¥½¥Ã¥É¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îattach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_rate_changed()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_rate_changed"));
                        
      RTC::ExecutionContextProfile* ecp;
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1000000), ecp->rate);

      // set_rate()¤ò¸Æ½Ð¤¹
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->set_rate(CORBA::Double(1.0)));
      ecp = ec->get_profile();
      CPPUNIT_ASSERT_EQUAL(CORBA::Double(1.0), ecp->rate);
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢on_rate_changed()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_rate_changed"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_add_invoking_attach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("attach_executioncontext"));

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief add()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥Ç¡¼¥¿¥Õ¥í¡¼¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ç¤Ï¤Ê¤¤LightweightRTObject¤ò»ØÄꤷ¤Æadd()¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤·¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢attach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("attach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_add_not_with_data_flow_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

//      POA_RTC::LightweightRTObject* rto
      POA_RTC::LightweightRTObject* rto
        = new LightweightRTObjectMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::PERIODIC, ec->get_kind());
                        
      // LightweightRTObject¤Ç¤Ï¤¢¤ë¤¬¡¢DataFlowComponent¤Ç¤Ï¤Ê¤¤RTObject¤òÍѤ¤¤Æ¡¢
      // add()¸Æ½Ð¤·¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - remove()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îdetach_executioncontext()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->add(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_remove_invoking_detach_executioncontext()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢attach_executioncontext()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("detach_executioncontext"));
                        
      // ExecutionContext¤Ø¤ÎÅÐÏ¿¤ò²ò½ü¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¤Þ¤ÀExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¡¢detach_executioncontext()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("detach_executioncontext"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_remove_with_not_attached_component()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ¤Þ¤ÀÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë¤Ä¤¤¤ÆExecutionContext¤«¤é¤ÎÅÐÏ¿²ò½ü¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Active¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æremove()¤ò»î¤ß¤¿¾ì¹ç¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_remove_when_component_is_still_active()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤¬Active¤Î¤Þ¤Þ¤Çremove()¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤¬Ìá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief remove()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Inactive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢Àµ¾ï¤Ëremove()¤Ç¤­¤ë¤«¡©
     */
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      // CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->remove(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_remove_when_component_is_inactive()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òInactive¤Ë¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
                        
      // remove()¤¬À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - activate()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_activated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_activate_component_invoking_on_activated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_activated"));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òActive¤Ë¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
                        
      coil::usleep(100000);
      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¤³¤Î»þÅÀ¤Ç¡¢on_activated()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_activated"));

      // activate_component()¤«¤éon_activated()¤Î¸Æ½Ð¤·¤ÏƱ´ü¸Æ½Ð¤Ç¤¢¤ê¡¢
      // ¥¹¥ì¥Ã¥É¥³¥ó¥Æ¥­¥¹¥È¤òÀÚÂؤ¨¤ë¤³¤È¤Ê¤¯¡¢Active¾õÂÖ¤ËÁ«°Ü¤·¤Æ¤¤¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * activate()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_activate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤Ë¥³¥ó¥Ý¡¼¥Í¥ó¥ÈÅÐÏ¿¤¹¤ë¤³¤È¤Ê¤¯activate_component()¤ò¸Æ½Ð¤·¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_activate_component_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // Error¾õÂÖ¤Çactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief activate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_activate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // activate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - deactivate_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_deactivated()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->activate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_deactivate_component_invoking_on_deactivated()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢¤Þ¤Àon_activated()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_deactivated"));

      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òdeactivate¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ExecutionContext¤Ë̤ÅÐÏ¿¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¤ò¸Æ½Ð¤·¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));
      coil::usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ¤³¤Î»þÅÀ¤Ç¡¢on_deactivated()¤Ï1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_deactivated"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_deactivate_component_without_participating()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());

      // ExecutionContext¤ËÅÐÏ¿¤·¤Æ¤¤¤Ê¤¤¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢
      // °Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief deactivate_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_deactivate_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      ec->start();
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òactivate¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      usleep(100000);
      CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));

      // ÈóAlive¾õÂ֤ˤ·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));

      // ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Ædeactivate¤ò»î¤ß¤Æ¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - reset_component()¸Æ½Ð¤·¤Ë¤è¤ê¡¢¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îon_reset()¤¬¸Æ¤Ó½Ð¤µ¤ì¤ë¤«¡©
     */
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      // CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->deactivate_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_reset_component_invoking_on_reset()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë
      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òError¾õÂ֤ˤޤÇÁ«°Ü¤µ¤»¤ë      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      mock->setError(true);
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
      coil::sleep(1); // Error¾õÂÖ¤ØÁ«°Ü¤¹¤ë¤Þ¤ÇÂԤġ£ËÜÍè¡¢¤³¤Î¥¹¥ê¡¼¥×¤¬»ÅÍ;åɬÍפ«Èݤ«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::ERROR_STATE, ec->get_component_state(rto->_this()));
                        
      // ¤³¤Î»þÅÀ¤Ç¤Ï¡¢on_reset()¤Ï1²ó¤â¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤Ê¤¤¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(0, mock->countLog("on_reset"));

      // reset_component()¤ò¸Æ½Ð¤·¡¢À®¸ù¤¹¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóError¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->reset_component(rto->_this()));
      coil::usleep(100000);
      // ¤³¤Î»þÅÀ¤Ç¡¢on_reset()¤¬1²ó¤À¤±¸Æ¤Ó½Ð¤µ¤ì¤Æ¤¤¤ë¤Ï¤º
      CPPUNIT_ASSERT_EQUAL(1, mock->countLog("on_reset"));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_reset_component_not_in_Error_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());
                        
      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Inactive)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief reset_component()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ÈóAlive¾õÂ֤Υ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Ë¼ºÇÔ¤¹¤ë¤«¡©
     */
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::INACTIVE_STATE, ec->get_component_state(rto->_this()));
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_reset_component_not_in_Alive_state()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë
      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      POA_RTC::LightweightRTObject* rto
        = new DataFlowComponentMock(); // will be deleted automatically
      DataFlowComponentMock* mock
        = dynamic_cast<DataFlowComponentMock*>(rto);

      // ÈóAlive¾õÂÖ(Create¾õÂÖ)¤Ë¤·¤Æ¤ª¤¯
      mock->setAlive(false);
      CPPUNIT_ASSERT_EQUAL(CORBA::Boolean(false), rto->is_alive(NULL));
                        
      // ExecutionContext¤òÀ¸À®¤¹¤ë      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTC::PeriodicExecutionContext* ec
        = new RTC::PeriodicExecutionContext(); // will be deleted automatically

      // ExecutionContext¤ËRTObject¤òÅÐÏ¿¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë
      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
                        
      // ¤³¤Î¾õÂÖ(Created)¤Çreset_component()¸Æ½Ð¤·¤ò¹Ô¤¤¡¢°Õ¿Þ¤É¤ª¤ê¤Î¥¨¥é¡¼¥³¡¼¥É¤ÇÌá¤ë¤³¤È¤ò³Îǧ¤¹¤ë      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    /*!
     * @brief bindComponent()¥á¥½¥Ã¥É¤Î¥Æ¥¹¥È
     * 
     * - ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»²²Ã¼Ô¥ê¥¹¥È¤ØÀµ¤·¤¯ÅÐÏ¿¤µ¤ì¤ë¤«¡©
     */
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë
      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, ec->reset_component(rto->_this()));

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }
                
    void test_bindComponent()
    {
      // RTObject¤òÀ¸À®¤¹¤ë      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë
      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
      coil::Properties prop;
      prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
      prop.setProperty("exec_cxt.periodic.rate","1000");
      rto->setProperties(prop);

      // ExecutionContext¤òÀ¸À®¤¹¤ë      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü
      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      PeriodicExecutionContextMock* ec = new PeriodicExecutionContextMock();

      // RTC::BAD_PARAMETER ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::BAD_PARAMETER, ec->bindComponent(NULL));

      // RTC::RTC_OK ¤òÊÖ¤¹¤«¡©
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->bindComponent(rto));

      // 1000·ïÅÐÏ¿¸å¡¢(id > ECOTHER_OFFSET)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      for (int i = 0; i < 1000; ++i)
        {
          ec->bindComponent(rto);
        }
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // m_ref=_nil()Ãͤξì¹ç¡¢(id < 0)ȽÄê¤ÎRTC::RTC_ERROR ¤òÊÖ¤¹¤«¡©
      ec->m_refmock = RTC::ExecutionContextService::_nil();
      ec->set_m_ref();
      CPPUNIT_ASSERT_EQUAL(RTC::RTC_ERROR, ec->bindComponent(rto));

      // ÅÐÏ¿¤·¤¿¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Îºï½ü      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp

      ec->clear_m_comps();

      ec->stop();
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(ec));
      delete ec;
      m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
      delete rto;
    }

  };
}; // namespace PeriodicExecutionContext

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(PeriodicExecutionContext::PeriodicExecutionContextTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // PeriodicExecutionContext_cpp