def main():
managers = []
args = create_parser()
dp = DomainParticipant(args.id)
topics = parse_args(args)
waitset = WaitSet(dp)
for topic_type, topic in topics:
managers.append(TopicManager(BuiltinDataReader(dp, topic), topic_type, args))
managers[-1].add_to_waitset(waitset)
if args.watch:
try:
while True:
for manager in managers:
waitset.wait(duration(milliseconds=20))
manager.poll()
except KeyboardInterrupt:
pass
else:
for manager in managers:
manager.poll()
if args.filename:
try:
with open(args.filename, 'w') as f:
Output.to_file(manager, managers, f)
print("\nResults have been written to file", args.filename, "\n")
except OSError:
print("could not open file")
return 1
return 0
def manage_dcps_object(dp, topic_type, topic):
dr = BuiltinDataReader(dp, topic)
samples = dr.take_iter(timeout=duration(milliseconds=10))
for sample in samples:
if topic_type == 'PARTICIPANT':
sample = {topic_type: [{"key": str(sample.key)}]}
else:
sample = {
topic_type: [{
"key": str(sample.key),
"participant_key": str(sample.participant_key),
"topic_name": sample.topic_name,
"qos": sample.qos.asdict()
}]
}
return sample
def main(sys_args):
JsonWriter.reset()
managers = []
args = create_parser(sys_args)
dp = DomainParticipant(args.id)
topics = parse_args(args)
waitset = WaitSet(dp)
for topic_type, topic in topics:
# Create TopicManager for each topic
managers.append(
TopicManager(BuiltinDataReader(dp, topic), topic_type, args))
managers[-1].add_to_waitset(waitset)
if not args.filename and args.json:
print("[")
# Watchmode
if args.watch:
try:
time_start = datetime.datetime.now()
v = True
while v:
for manager in managers:
waitset.wait(duration(milliseconds=20))
manager.poll()
if args.runtime:
v = datetime.datetime.now(
) < time_start + datetime.timedelta(seconds=args.runtime)
except KeyboardInterrupt:
pass
# Non-watchmode
else:
time_start = datetime.datetime.now()
runtime = args.runtime or 1
while datetime.datetime.now() < time_start + datetime.timedelta(
seconds=runtime):
for manager in managers:
manager.poll()
if not args.filename and args.json:
print("]")
# Write to file
if args.filename:
try:
with open(args.filename, 'w') as f:
data = {
manager.topic_type: manager.as_dict()
for manager in managers
}
json.dump(data, f, indent=4)
print(f"\nResults have been written to file {args.filename}\n")
except OSError:
raise Exception(f"Could not open file {args.filename}")
return 0
def test_builtin_dcps_participant():
dp = DomainParticipant(0)
sub = Subscriber(dp)
dr1 = BuiltinDataReader(sub, BuiltinTopicDcpsParticipant)
dr2 = BuiltinDataReader(sub, BuiltinTopicDcpsSubscription)
assert isgoodentity(dr1)
assert isgoodentity(dr2)
assert dr1.take_next().key == dp.guid
msg = dr2.take(N=2)
assert [msg[0].key, msg[1].key] == [dr1.guid, dr2.guid] or \
[msg[0].key, msg[1].key] == [dr2.guid, dr1.guid]
def test_builtin_dcps_participant():
dp = DomainParticipant(0)
sub = Subscriber(dp)
dr1 = BuiltinDataReader(sub, BuiltinTopicDcpsParticipant)
dr2 = BuiltinDataReader(sub, BuiltinTopicDcpsSubscription)
assert isgoodentity(dr1)
assert isgoodentity(dr2)
for msg in dr1.read_iter(timeout=duration(milliseconds=10)):
assert msg.key == dp.guid
for msg in dr2.take_iter(timeout=duration(milliseconds=10)):
msg.key in [dr1.guid, dr2.guid]
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))
from cyclonedds.domain import DomainParticipant
from cyclonedds.builtin import BuiltinDataReader, BuiltinTopicDcpsParticipant
from cyclonedds.util import duration
dp = DomainParticipant()
dr = BuiltinDataReader(dp, BuiltinTopicDcpsParticipant)
for sample in dr.take_iter(timeout=duration(milliseconds=10)):
print(sample)