def test_get_participant():
dp = DomainParticipant(0)
assert dp.participant == dp.get_participant() == dp
tp = Topic(dp, "Message", Message)
assert isgoodentity(tp)
assert tp.participant == tp.get_participant() == dp
sub = Subscriber(dp)
assert isgoodentity(sub)
assert sub.participant == sub.get_participant() == dp
pub = Publisher(dp)
assert isgoodentity(pub)
assert pub.participant == pub.get_participant() == dp
dr = DataReader(sub, tp)
assert isgoodentity(dr)
assert dr.participant == dr.get_participant() == dp
dw = DataWriter(pub, tp)
assert isgoodentity(dw)
assert dw.participant == dw.get_participant() == dp
def test_scoped_qos(common_setup):
with pytest.raises(TypeError):
DomainParticipant(qos=Qos().topic())
DomainParticipant(qos=Qos().domain_participant())
with pytest.raises(TypeError):
Topic(common_setup.dp,
'Message',
Message,
qos=Qos().domain_participant())
Topic(common_setup.dp, 'Message', Message, qos=Qos().topic())
with pytest.raises(TypeError):
Publisher(common_setup.dp, qos=Qos().subscriber())
Publisher(common_setup.dp, qos=Qos().publisher())
with pytest.raises(TypeError):
Subscriber(common_setup.dp, qos=Qos().publisher())
Subscriber(common_setup.dp, qos=Qos().subscriber())
with pytest.raises(TypeError):
DataWriter(common_setup.pub, common_setup.tp, qos=Qos().datareader())
DataWriter(common_setup.pub, common_setup.tp, qos=Qos().datawriter())
with pytest.raises(TypeError):
DataReader(common_setup.sub, common_setup.tp, qos=Qos().datawriter())
DataReader(common_setup.sub, common_setup.tp, qos=Qos().datareader())
def test_delete_entity():
dp = DomainParticipant(0)
assert dp.get_participant() == dp
reference = dp._ref
del dp
with pytest.raises(DDSException):
Entity(reference).get_participant()
def test_find_topic():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
assert isgoodentity(tp)
xtp = dp.find_topic("Message")
assert xtp.typename == tp.typename
assert xtp.name == tp.name
def test_domain_id():
dp = DomainParticipant(0)
dp1 = DomainParticipant(33)
time.sleep(0.5)
data = run_ddsls(["--id", "33", "-t", "dcpsparticipant"])
time.sleep(0.5)
assert str(dp.guid) not in data["stdout"]
assert str(dp1.guid) in data["stdout"]
def test_delete_entity():
dp = DomainParticipant(0)
assert dp.get_participant() == dp
reference = dp._ref
del dp
with pytest.raises(DDSException) as exc:
Entity(reference).get_participant()
# This test is weird, it can fail if other tests are also failing.
# So if this test fails fix other tests first before spending any time here.
assert exc.value.code == DDSException.DDS_RETCODE_PRECONDITION_NOT_MET
def test_get_pubsub():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
sub = Subscriber(dp)
pub = Publisher(dp)
dr = DataReader(sub, tp)
dw = DataWriter(pub, tp)
assert dr.subscriber == dr.get_subscriber() == sub
assert dw.publisher == dw.get_publisher() == pub
with pytest.raises(DDSException) as exc:
dp.get_subscriber()
assert exc.value.code == DDSException.DDS_RETCODE_ILLEGAL_OPERATION
def test_initialize_writer():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
assert isgoodentity(dw)
def main(sys_args):
args = create_parser(sys_args)
eqos = QosPerEntity(args.entityqos)
if args.qos:
qos = QosParser.parse(args.qos)
eqos.entity_qos(qos, args.entityqos)
dp = DomainParticipant(0)
waitset = WaitSet(dp)
manager = TopicManager(args, dp, eqos, waitset)
if args.topic or args.dynamic:
try:
worker = Worker(make_work_function(manager, waitset, args))
while True:
txt = input("")
worker.put_input(txt)
except (KeyboardInterrupt, IOError, ValueError):
pass
except EOFError:
# stdin closed, if runtime is set wait for that to expire, else exit
if args.runtime:
worker.work.join()
finally:
worker.stop()
return 0
def test_all_entities_json_reported():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageTopic", Message)
dw = DataWriter(dp, tp)
dr = DataReader(dp, tp)
time.sleep(1)
data = run_ddsls(["--json", "-a"])
json_data = json.loads(data["stdout"])
assert str(dw.guid) in data["stdout"]
assert str(dr.guid) in data["stdout"]
assert str(dp.guid) in data["stdout"]
assert tp.name in data["stdout"]
assert tp.typename in data["stdout"]
writer_check, reader_check = False, False
for sample in json_data:
for val in sample["value"]:
if val["key"] == str(dw.guid):
assert (dw.get_qos()).asdict() == val["qos"]
writer_check = True
if val["key"] == str(dr.guid):
assert (dr.get_qos()).asdict() == val["qos"]
reader_check = True
assert reader_check and writer_check
def test_reader_initialize():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert isgoodentity(dr)
def test_reader_take():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert len(dr.take()) == 0
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 test_reader_waitforhistoricaldata():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert dr.wait_for_historical_data(duration(milliseconds=5))
def main():
qos_manager = Qosmanager()
qos = None
args = create_parser()
if args.qos:
args.qos = ' '.join(args.qos)
myqos = qos_manager.construct_policy(args.qos)
qos = Qos(myqos)
dp = DomainParticipant(0)
waitset = WaitSet(dp)
manager = Topicmanger(args, dp, qos, waitset)
if args.topic:
try:
while True:
input = select.select([sys.stdin], [], [], 0)[0]
if input:
for text in sys.stdin.readline().split():
try:
text = int(text)
manager.write(text)
except ValueError:
manager.write(text.rstrip("\n"))
manager.read()
waitset.wait(duration(microseconds=20))
except KeyboardInterrupt:
sys.exit(0)
def test_data_representation_writer_error_invalid_v0():
qos = Qos(Policy.DataRepresentation(use_cdrv0_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "XMessage", XMessage)
with pytest.raises(DDSException):
DataWriter(dp, tp, qos=qos)
def test_reader_resizebuffer():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert len(dr.read(N=100)) == 0
assert len(dr.read(N=200)) == 0
assert len(dr.read(N=100)) == 0
def test_participant_json_reported():
dp = DomainParticipant(0)
time.sleep(0.5)
data = run_ddsls(["-t", "dcpsparticipant", "--json"])
time.sleep(0.5)
assert str(dp.guid) in data["stdout"]
def test_writer_writedispose():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageKeyed", MessageKeyed)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
msg = MessageKeyed(user_id=1, message="Hello")
dw.write_dispose(msg)
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_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 check_enforced_non_communication(log: Stream, ctx: FullContext,
typename: str) -> bool:
datatype_regular = ctx.get_datatype(typename)
if datatype_regular.__idl__.keyless:
return True
narrow_ctx = ctx.narrow_context_of(typename)
new_scope = deepcopy(narrow_ctx.scope)
non_valid_mutation(new_scope, typename)
mutated_ctx = FullContext(new_scope)
mutated_datatype = mutated_ctx.get_datatype(typename)
normal_without_header_idl = "\n".join(narrow_ctx.idl_file.splitlines()[1:])
mutated_without_header_idl = "\n".join(
mutated_ctx.idl_file.splitlines()[1:])
if normal_without_header_idl == mutated_without_header_idl:
# No mutation took place (only unions) just assume it is good
return True
dp = DomainParticipant()
try:
tp = Topic(dp, typename, mutated_datatype)
except DDSException:
# Sometimes the type gets so mangled (like empty structs/unions)
# that it is not a valid topic type anymore. We'll consider this a
# successful test.
return True
dw = DataWriter(
dp,
tp,
qos=Qos(Policy.DataRepresentation(use_xcdrv2_representation=True),
Policy.Reliability.Reliable(duration(seconds=2)),
Policy.DestinationOrder.BySourceTimestamp))
dw.set_status_mask(DDSStatus.PublicationMatched)
dw.take_status()
ctx.c_app.run(typename, 1)
now = time.time()
while (dw.take_status() & DDSStatus.PublicationMatched) == 0:
if time.time() - now > 0.5:
ctx.c_app.process.kill()
return True
time.sleep(0.001)
ctx.c_app.process.kill()
log << f"C-app agreed to communicate with non-valid mutation" << log.endl << log.indent
log << log.dedent << "[Mutated IDL]:" << log.indent << log.endl
log << mutated_ctx.idl_file << log.endl
log << log.dedent
return False
def test_reader_invalid():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
with pytest.raises(TypeError):
dr.read(-1)
with pytest.raises(TypeError):
dr.take(-1)
def test_suspension():
dp = DomainParticipant(0)
pub = Publisher(dp)
with pytest.raises(DDSException) as exc:
pub.suspend()
assert exc.value.code == DDSException.DDS_RETCODE_UNSUPPORTED
with pytest.raises(DDSException) as exc:
pub.resume()
assert exc.value.code == DDSException.DDS_RETCODE_UNSUPPORTED
def __init__(self, domain_id=0):
self.qos = Qos(Policy.Reliability.Reliable(duration(seconds=2)), Policy.History.KeepLast(10))
self.dp = DomainParticipant(domain_id)
self.tp = Topic(self.dp, 'Message', Message)
self.pub = Publisher(self.dp)
self.sub = Subscriber(self.dp)
self.dw = DataWriter(self.pub, self.tp, qos=self.qos)
self.dr = DataReader(self.sub, self.tp, qos=self.qos)
self.msg = Message(message="hi")
self.msg2 = Message(message="hi2")
def __init__(self, domain_id=0):
self.qos = Qos(Policy.Reliability.Reliable(duration(seconds=2)), Policy.History.KeepLast(10))
self.dp = DomainParticipant(domain_id)
self._tp = None
self._pub = None
self._sub = None
self._dw = None
self._dr = None
self.msg = Message(message="hi")
self.msg2 = Message(message="hi2")
def test_subscriber_wrong_usage_errors():
dp = DomainParticipant(0)
with pytest.raises(TypeError):
Subscriber(False)
with pytest.raises(TypeError):
Subscriber(dp, qos=False)
with pytest.raises(TypeError):
Subscriber(dp, listener=False)
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_writer_instance_handle():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageKeyed", MessageKeyed)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
msg = MessageKeyed(user_id=1, message="Hello")
handle = dw.register_instance(msg)
assert handle > 0
dw.write(msg)
dw.unregister_instance_handle(handle)
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
