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_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 __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_initialize_writer():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
assert isgoodentity(dw)
def test_dynamic_publish_complex():
dp = DomainParticipant()
tp = Topic(dp, 'DynTest', XStruct)
rd = DataReader(dp, tp)
type_id = XStruct.__idl__.get_type_id()
datatype, tmap = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
assert datatype.__idl__.get_type_id() == XStruct.__idl__.get_type_id()
tp = Topic(dp, 'DynTest', datatype)
wr = DataWriter(dp, tp)
wr.write(datatype(A=tmap['XUnion'](A=tmap['XEnum'].V1), k=1))
assert rd.read()[0].k == 1
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 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 tp(self, qos=None, listener=None):
self._tp = Topic(self.dp,
'Message',
Message,
qos=qos,
listener=listener)
return self._tp
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 test_dynamic_subscribe_complex():
dp = DomainParticipant()
tp = Topic(dp, 'DynTest', XStruct)
wr = DataWriter(dp, tp)
type_id = XStruct.__idl__.get_type_id()
datatype, tmap = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
assert datatype.__idl__.get_type_id() == XStruct.__idl__.get_type_id()
tp = Topic(dp, 'DynTest', datatype)
dr = DataReader(dp, tp)
wr.write(XStruct(A=XUnion(A=XEnum.V1), k=1))
assert dr.read()[0].k == 1
def test_reader_initialize():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert isgoodentity(dr)
def test_get_children():
dp = DomainParticipant(0)
assert len(dp.children) == len(dp.get_children()) == 0
tp = Topic(dp, "Message", Message)
assert isgoodentity(tp)
assert len(dp.children) == len(dp.get_children()) == 1
assert dp.children[0] == dp.get_children()[0] == tp
assert len(tp.children) == len(tp.get_children()) == 0
sub = Subscriber(dp)
assert isgoodentity(sub)
assert len(dp.children) == len(dp.get_children()) == 2
assert set(dp.children) == set([sub, tp])
assert len(sub.children) == len(sub.get_children()) == 0
pub = Publisher(dp)
assert isgoodentity(pub)
assert len(dp.children) == len(dp.get_children()) == 3
assert set(dp.children) == set([pub, sub, tp])
assert len(pub.children) == len(pub.get_children()) == 0
dr = DataReader(sub, tp)
assert isgoodentity(dr)
assert set(dp.children) == set([pub, sub, tp])
assert len(sub.children) == 1
assert sub.children[0] == dr
dw = DataWriter(pub, tp)
assert isgoodentity(dw)
assert set(dp.children) == set([pub, sub, tp])
assert len(pub.children) == 1
assert pub.children[0] == dw
del dw
del dr
del pub
del sub
del tp
assert len(dp.children) == len(dp.get_children()) == 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_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 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_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_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 __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 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_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_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_subscription_reported():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageTopic", Message)
dr = DataReader(dp, tp)
time.sleep(1)
data = run_ddsls(["-t", "dcpssubscription"])
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"]
assert str(dr.get_qos()) in data["stdout"]
def test_dynamic_subscribe(common_setup):
type_id = common_setup.tp.data_type.__idl__.get_type_id()
dp = DomainParticipant(common_setup.dp.domain_id)
datatype, _ = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
tp = Topic(dp, common_setup.tp.name, datatype)
dr = DataReader(dp, tp)
common_setup.dw.write(common_setup.msg)
assert dr.read()[0].message == common_setup.msg.message
def test_keyed_type_alignment():
dp = DomainParticipant()
tp = Topic(dp, "Test", KeyedArrayType)
dw = DataWriter(dp, tp)
dr = DataReader(dp, tp)
samp1 = KeyedArrayType(['u' * 17, 's' * 13, 'b' * 23],
['u' * 3, 's' * 5, 'b' * 7], [-1] * 3, [-1] * 3,
[-1] * 3, [-1] * 3)
dw.write(samp1)
samp2 = dr.read()[0]
assert KeyedArrayType.cdr.key(samp1) == KeyedArrayType.cdr.key(samp2)
def test_data_representation_writer_v2_match():
qos = Qos(Policy.DataRepresentation(use_xcdrv2_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "XMessage", XMessage)
dr = DataReader(dp, tp, qos=qos)
dw = DataWriter(dp, tp, qos=qos)
assert dw._use_version_2 == True
msg = XMessage("Hello")
dw.write(msg)
assert dr.read_next() == msg
def test_publication_reported():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageTopic", Message)
dw = DataWriter(dp, tp)
time.sleep(1)
data = run_ddsls(["-t", "dcpspublication"])
assert str(dw.guid) in data["stdout"]
assert str(dp.guid) in data["stdout"]
assert tp.name in data["stdout"]
assert tp.typename in data["stdout"]
assert str(dw.get_qos()) in data["stdout"]
def test_writer_lookup():
dp = DomainParticipant(0)
tp = Topic(dp, "MessageKeyed", MessageKeyed)
pub = Publisher(dp)
dw = DataWriter(pub, tp)
keymsg1 = MessageKeyed(user_id=1000, message="Hello!")
keymsg2 = MessageKeyed(user_id=2000, message="Hello!")
assert None == dw.lookup_instance(keymsg1)
assert None == dw.lookup_instance(keymsg2)
handle1 = dw.register_instance(keymsg1)
handle2 = dw.register_instance(keymsg2)
assert handle1 > 0 and handle2 > 0 and handle1 != handle2
assert handle1 == dw.lookup_instance(keymsg1)
assert handle2 == dw.lookup_instance(keymsg2)
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_reader_readnext_takenext():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
pub = Publisher(dp)
dr = DataReader(sub, tp)
dw = DataWriter(pub, tp)
msg = Message("Hello")
dw.write(msg)
assert dr.read_next() == msg
assert dr.read_next() is None
dw.write(msg)
assert dr.take_next() == msg
assert dr.take_next() is None
