def test_querycondition_read(common_setup):
qc = QueryCondition(
common_setup.dr,
SampleState.Any | ViewState.Any | InstanceState.NotAliveDisposed,
lambda msg: msg.message.startswith("Hi"))
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)
received = common_setup.dr.read(N=6)
assert messages == received
common_setup.dw.dispose(messages[5])
assert not qc.triggered
common_setup.dw.dispose(messages[1])
assert qc.triggered
received = common_setup.dr.read(condition=qc)
assert len(received) == 1 and received[0] == messages[1]
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 __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 __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_keepalive_parents():
dr = _make_reader_without_saving_deps()
msg = Message("Hello")
dw = DataWriter(dr.participant, dr.topic).write(msg)
assert dr.read_next() == msg
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_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
def test_reader_readiter():
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
sub = Subscriber(dp)
pub = Publisher(dp)
dr = DataReader(sub, tp)
dw = DataWriter(pub, tp)
msg = Message("Hello")
dw.write(msg)
read = False
for msgr in dr.read_iter(timeout=duration(milliseconds=10)):
assert not read
assert msg == msgr
read = True
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_readcondition_read(common_setup):
rc = ReadCondition(
common_setup.dr,
SampleState.Any | ViewState.Any | InstanceState.NotAliveDisposed)
assert not rc.triggered
messages = [Message(message=f"Hi {i}!") for i in range(5)]
for m in messages:
common_setup.dw.write(m)
received = common_setup.dr.read(N=5)
assert messages == received
common_setup.dw.dispose(messages[1])
assert rc.triggered
received = common_setup.dr.read(condition=rc)
assert len(received) == 1 and received[0] == messages[1]