def __init__(self, reader, topic_type, args):
self.reader = reader
self.topic_type = topic_type
self.console_print = not args.filename
self.enable_json = args.json
self.enable_view = args.verbose
self.dp_key = reader.participant.guid
self.tracked_entities = {}
self.tracked_disposed_entities = {}
self.qoses = {}
self.strings = ""
self.read_cond = ReadCondition(reader, ViewState.Any | InstanceState.Alive | SampleState.NotRead)
self.disposed_cond = ReadCondition(reader, ViewState.Any | InstanceState.NotAliveDisposed | SampleState.Any)
def test_condition_cleanup(common_setup):
reader = DataReader(common_setup.dp, common_setup.tp)
condition = ReadCondition(reader, 1234)
del reader
import gc
gc.collect()
del condition
def test_waitset_wait(common_setup):
ws = WaitSet(common_setup.dp)
rc1 = ReadCondition(common_setup.dr,
ViewState.Any | InstanceState.Any | SampleState.Any)
ws.attach(rc1)
assert ws.wait(duration(milliseconds=5)) == 0
common_setup.dw.write(Message(message="Hi!"))
assert ws.wait(duration(seconds=1)) == 1
rc2 = ReadCondition(
common_setup.dr,
ViewState.Any | InstanceState.Any | SampleState.NotRead)
ws.attach(rc2)
assert ws.wait(duration(seconds=1)) == 2
def test_waitset_attachment(common_setup):
ws = WaitSet(common_setup.dp)
rc = ReadCondition(common_setup.dr,
ViewState.Any | InstanceState.Any | SampleState.Any)
ws.attach(rc)
assert ws.is_attached(rc)
ws.detach(rc)
assert not ws.is_attached(rc)
def discover_datatype(participant, topic_name: str):
drp = BuiltinDataReader(participant, BuiltinTopicDcpsPublication)
drpc = ReadCondition(drp, InstanceState.Alive)
drs = BuiltinDataReader(participant, BuiltinTopicDcpsSubscription)
drsc = ReadCondition(drs, InstanceState.Alive)
ws = WaitSet(participant)
ws.attach(drp)
ws.attach(drs)
while True:
for s in drp.take_iter(condition=drpc,
timeout=duration(milliseconds=1)):
if s.topic_name == topic_name and s.type_id is not None:
return get_types_for_typeid(participant, s.type_id,
duration(seconds=5))
for s in drs.take_iter(condition=drsc,
timeout=duration(milliseconds=1)):
if s.topic_name == topic_name and s.type_id is not None:
return get_types_for_typeid(participant, s.type_id,
duration(seconds=5))
ws.wait(duration(milliseconds=4))
def __init__(self, args, dp, qos, waitset):
self.topic_name = args.topic
self.seq = -1
try:
int_topic = Topic(dp, self.topic_name + "int", Integer, qos=qos)
str_topic = Topic(dp, self.topic_name, String, qos=qos)
self.int_writer = DataWriter(dp, int_topic, qos=qos)
self.int_reader = DataReader(dp, int_topic, qos=qos)
self.str_writer = DataWriter(dp, str_topic, qos=qos)
self.str_reader = DataReader(dp, str_topic, qos=qos)
except DDSException:
raise SystemExit("Error: The arguments inputted are considered invalid for cyclonedds.")
self.read_cond = ReadCondition(self.int_reader, ViewState.Any | InstanceState.Alive | SampleState.NotRead)
waitset.attach(self.read_cond)
def test_readcondition_get_mask(common_setup):
mask = SampleState.Any | InstanceState.Any | ViewState.Any
rc = ReadCondition(common_setup.dr, mask)
assert rc.mask == rc.get_mask() == mask
mask = SampleState.NotRead | InstanceState.NotAliveNoWriters | ViewState.Old
assert rc.mask == rc.get_mask() != mask
rc = ReadCondition(common_setup.dr, mask)
assert rc.mask == rc.get_mask() == mask
def __init__(self, args, dp, eqos, waitset):
self.dp = dp
if args.topic:
self.topic_name = args.topic
self.dynamic = False
else:
self.topic_name = args.dynamic
self.dynamic = True
self.seq = -1 # Sequence number counter
self.eqos = eqos # Entity qos
self.entities = {} # Store writers and readers
self.file = args.filename # Write to file or not
self.track_samples = {} # Track read samples if needs to write to file
try:
self.listener = QosListener()
self.pub = Publisher(dp, qos=self.eqos.publisher_qos)
self.sub = Subscriber(dp,
qos=self.eqos.subscriber_qos,
listener=self.listener)
if self.dynamic:
ds, tmap = discover_datatype(self.dp, self.topic_name)
self.entity = self.create_entities(ds, self.topic_name)
self.type_map = tmap
print(f"Discovered datatype dynamically:{ds}")
else:
for type in datatypes:
self.entities[type] = self.create_entities(
type, self.topic_name + type.postfix())
except DDSException:
raise Exception(
"The arguments inputted are considered invalid for cyclonedds."
)
self.read_cond = ReadCondition(
(self.entities[Integer]
if not self.dynamic else self.entity).reader,
ViewState.Any | InstanceState.Alive | SampleState.NotRead)
waitset.attach(self.read_cond)
def test_readcondition_read(common_setup):
rc = ReadCondition(
common_setup.dr,
SampleState.Any | ViewState.Any | InstanceState.NotAliveDisposed)
assert not rc.triggered
messages = [Message(message=f"Hi {i}!") for i in range(5)]
for m in messages:
common_setup.dw.write(m)
received = common_setup.dr.read(N=5)
assert messages == received
common_setup.dw.dispose(messages[1])
assert rc.triggered
received = common_setup.dr.read(condition=rc)
assert len(received) == 1 and received[0] == messages[1]
def test_readcondition_read(common_setup):
tp = Topic(common_setup.dp, "hi_sayer", MessageKeyed)
dr = DataReader(common_setup.dp, tp)
dw = DataWriter(common_setup.dp, tp)
rc = ReadCondition(dr, SampleState.Any | ViewState.Any | InstanceState.NotAliveDisposed)
assert not rc.triggered
messages = [MessageKeyed(user_id=i, message=f"Hi {i}!") for i in range(5)]
for m in messages:
dw.write(m)
received = dr.read(N=5)
assert messages == received
dw.dispose(messages[1])
assert rc.triggered
received = dr.read(condition=rc)
assert len(received) == 1 and received[0] == messages[1]
def test_readcondition_init(common_setup):
rc = ReadCondition(common_setup.dr,
SampleState.Any | InstanceState.Any | ViewState.Any)
assert isgoodentity(rc)
def test_readcondition_get_reader(common_setup):
rc = ReadCondition(common_setup.dr,
SampleState.Any | InstanceState.Any | ViewState.Any)
assert rc.get_datareader() == common_setup.dr
