def test_regression_write_read_take(common_setup):
"""
This popped up in early testing, if the refcounting in the C backend is not done right
the count can become zero between read and take and python frees it.
"""
common_setup.dw.write(Message(message="Hi!"))
assert common_setup.dr.read()[0] == Message(message="Hi!")
assert common_setup.dr.take()[0] == Message(message="Hi!")
def test_communication_order(common_setup):
msg1 = Message(message="Hi1!")
msg2 = Message(message="Hi2!")
common_setup.dw.write(msg1)
common_setup.dw.write(msg2)
result = common_setup.dr.read(N=2)
assert len(result) == 2
assert result[0] == msg1
assert result[1] == msg2
def test_communication_basic_read(common_setup):
msg = Message(message="Hi!")
common_setup.dw.write(msg)
result = common_setup.dr.read()
assert len(result) == 1
assert result[0] == msg
def test_writeto_writer():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
msg = Message(message="TestMessage")
dw.write(msg)
assert dw.wait_for_acks(duration(seconds=1))
def test_communication_take_destroys(common_setup):
msg = Message(message="Hi!")
common_setup.dw.write(msg)
result1 = common_setup.dr.read()
result2 = common_setup.dr.take()
result3 = common_setup.dr.read()
assert len(result1) == 1
assert len(result2) == 1
assert len(result3) == 0
assert result1[0] == result2[0] == msg
def test_data_representation_writer_dualreader_match():
qosv0 = Qos(Policy.DataRepresentation(use_cdrv0_representation=True))
qosv2 = Qos(Policy.DataRepresentation(use_xcdrv2_representation=True))
qosv0v2 = Qos(
Policy.DataRepresentation(use_cdrv0_representation=True,
use_xcdrv2_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
dr = DataReader(dp, tp, qos=qosv0v2)
dwv0 = DataWriter(dp, tp, qos=qosv0)
dwv2 = DataWriter(dp, tp, qos=qosv2)
msg1 = Message("Hello")
dwv0.write(msg1)
assert dr.read_next() == msg1
msg2 = Message("Hi!")
dwv2.write(msg2)
assert dr.read_next() == msg2
def test_querycondition_read(common_setup):
qc = QueryCondition(common_setup.dr,
SampleState.Read | ViewState.Any | InstanceState.Any,
lambda msg: msg.message.startswith("Goodbye"))
assert not qc.triggered
messages = [Message(message=f"Hi {i}!")
for i in range(5)] + [Message(message="Goodbye")]
for m in messages:
common_setup.dw.write(m)
common_setup.dr.read(N=5)
assert not qc.triggered
common_setup.dr.read(N=6)
assert qc.triggered
received = common_setup.dr.read(condition=qc)
assert len(received) == 1 and received[0] == messages[5]
def test_data_representation_writer_v2_v0_unmatch():
qosv0 = Qos(Policy.DataRepresentation(use_cdrv0_representation=True))
qosv2 = Qos(Policy.DataRepresentation(use_xcdrv2_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
dr = DataReader(dp, tp, qos=qosv2)
dw = DataWriter(dp, tp, qos=qosv0)
msg = Message("Hello")
dw.write(msg)
assert dr.read_next() == None
def test_data_representation_writer_v0_match():
qos = Qos(Policy.DataRepresentation(use_cdrv0_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
dr = DataReader(dp, tp, qos=qos)
dw = DataWriter(dp, tp, qos=qos)
assert dw._use_version_2 == False
msg = Message("Hello")
dw.write(msg)
assert dr.read_next() == msg
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_pub_matched_cross_participant(hitpoint_factory):
hpf = hitpoint_factory
class MyListener(Listener):
def __init__(self):
super().__init__()
self.hitpoint_data_available = hpf()
self.hitpoint_pub_matched = hpf()
self.hitpoint_sub_matched = hpf()
def on_data_available(self, reader):
self.hitpoint_data_available.hit()
def on_publication_matched(self, writer,status):
self.hitpoint_pub_matched.hit()
def on_subscription_matched(self, reader, status):
self.hitpoint_sub_matched.hit()
domain1_participant_listener = MyListener()
domain2_participant_listener = MyListener()
dp1 = DomainParticipant(listener=domain1_participant_listener)
dp2 = DomainParticipant(listener=domain2_participant_listener)
tp1 = Topic(dp1, "Message", Message)
tp2 = Topic(dp2, "Message", Message)
publisher_listener = MyListener()
pub = Publisher(dp1, listener=publisher_listener)
subscriber_listener = MyListener()
sub = Subscriber(dp2, listener=subscriber_listener)
datawriter_listener = MyListener()
datawriter = DataWriter(pub, tp1, listener=datawriter_listener)
datareader_listener = MyListener()
datareader = DataReader(sub, tp2, listener=datareader_listener)
datawriter.write(Message("hi!"))
# Assertions, _only_ datawriter should publication match,
# _only_ datareader should subscriber match and receive data
assert datawriter_listener.hitpoint_pub_matched.was_hit()
assert datareader_listener.hitpoint_sub_matched.was_hit()
assert datareader_listener.hitpoint_data_available.was_hit()
assert domain1_participant_listener.hitpoint_pub_matched.was_not_hit()
assert domain1_participant_listener.hitpoint_sub_matched.was_not_hit()
assert domain1_participant_listener.hitpoint_data_available.was_not_hit()
assert domain2_participant_listener.hitpoint_pub_matched.was_not_hit()
assert domain2_participant_listener.hitpoint_sub_matched.was_not_hit()
assert domain2_participant_listener.hitpoint_data_available.was_not_hit()
assert publisher_listener.hitpoint_pub_matched.was_not_hit()
assert publisher_listener.hitpoint_sub_matched.was_not_hit()
assert publisher_listener.hitpoint_data_available.was_not_hit()
assert subscriber_listener.hitpoint_pub_matched.was_not_hit()
assert subscriber_listener.hitpoint_sub_matched.was_not_hit()
assert subscriber_listener.hitpoint_data_available.was_not_hit()
assert datawriter_listener.hitpoint_sub_matched.was_not_hit()
assert datawriter_listener.hitpoint_data_available.was_not_hit()
assert datareader_listener.hitpoint_pub_matched.was_not_hit()