def __init__(self, domain, idl_path, index=0, partitions=("ddsexample", )):
self.isopen = True
self.domain = domain
self.index = index
self.idl_path = pathlib.Path(idl_path).resolve()
if not self.idl_path.is_file():
raise ValueError(f"idl_path={idl_path} is not a file")
self.name = self.idl_path.stem
self.log = logging.getLogger(self.name)
self.partitions = partitions
# Create the publisher and subscriber. Both depend on the DDS
# partitions, and so are created here instead of in Domain,
# where most similar objects are created.
partition_qos_policy = dds.PartitionQosPolicy(self.partitions)
publisher_qos = domain.qos_provider.get_publisher_qos()
publisher_qos.set_policies([partition_qos_policy])
self.publisher = domain.participant.create_publisher(publisher_qos)
subscriber_qos = domain.qos_provider.get_subscriber_qos()
subscriber_qos.set_policies([partition_qos_policy])
self.subscriber = domain.participant.create_subscriber(subscriber_qos)
# A task that is set done when Component.start is done
# (or to the exception if that fails).
self.start_task = asyncio.Future()
# dict of dds.ReadCondition: Topic
self.readers = dict()
# wait_timeout is a failsafe for shutdown; normally all you have to do
# is call `close` to trigger the guard condition and stop the wait
self._wait_timeout = dds.DDSDuration(sec=10)
self._guardcond = dds.GuardCondition()
self._waitset = dds.WaitSet()
self._waitset.attach(self._guardcond)
self._read_loop_task = make_done_future()
self._start_begtime = None
self._wait_history_begtime = None
self._read_history_begtime = None
self._start_endtime = None
self._wait_history_duration = None
domain.add_component(self)
def make_subscriber(
self, partition_names: typing.Sequence[str]) -> dds.Subscriber:
"""Make a dds subscriber.
Parameters
----------
partition_names : `list` [`str`]
List of DDS partition names.
"""
partition_qos_policy = dds.PartitionQosPolicy(partition_names)
# Any qos set will do, because the publisher and subscriber QoS
# is the same for all of them.
subscriber_qos = self.event_qos_set.qos_provider.get_subscriber_qos()
subscriber_qos.set_policies([partition_qos_policy])
return self.participant.create_subscriber(subscriber_qos)
def testGroup_textData(self):
myData = 'Pub Text Group Data'
builtinTopicName = 'DCPSPublication'
sawMyData = Event()
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n=1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(r[0].data.group_data.value).decode(
'ISO-8859-1')
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(
qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(
self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(
builtin_topic_info.topic,
qos=builtin_topic_info.topic.qos,
listener=L())
# Register a topic with a TopicdataQosPolicy
p_qos = dds.Qos(policies=[dds.GroupdataQosPolicy(myData)])
pub = self.dp.create_publisher(p_qos)
info = ddsutil.get_dds_classes_from_idl('idl/Shapes.idl', "ShapeType")
t = info.register_topic(self.dp, "T_testGroup_textData")
self.assertIsNotNone(t, "Topic registration failed")
dw = pub.create_datawriter(t)
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
dw.close()
pub.close()
def testParticipant_textData(self):
myData = 'DP Text User Data'
builtinTopicName = 'DCPSParticipant'
sawMyData = Event()
dp_qos_txt = dds.Qos(policies=[dds.UserdataQosPolicy(myData)])
dp2 = dds.DomainParticipant(qos=dp_qos_txt)
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n=1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(
r[0].data.user_data.value).decode('ISO-8859-1')
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(
qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(
self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(
builtin_topic_info.topic,
qos=builtin_topic_info.topic.qos,
listener=L())
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
dp2.close()
