def test_call_publisher_rclpy_event_apis(self):
# Go through the exposed apis and ensure that things don't explode when called
# Make no assumptions about being able to actually receive the events
publisher = self.node.create_publisher(EmptyMsg, 'test_topic', 10)
wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
_rclpy.rclpy_wait_set_init(wait_set, 0, 0, 0, 0, 0, 2,
self.context.handle)
deadline_event_handle = self._create_event_handle(
publisher,
QoSPublisherEventType.RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)
with deadline_event_handle as capsule:
deadline_event_index = _rclpy.rclpy_wait_set_add_entity(
'event', wait_set, capsule)
self.assertIsNotNone(deadline_event_index)
liveliness_event_handle = self._create_event_handle(
publisher, QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST)
with liveliness_event_handle as capsule:
liveliness_event_index = _rclpy.rclpy_wait_set_add_entity(
'event', wait_set, capsule)
self.assertIsNotNone(liveliness_event_index)
# We live in our own namespace and have created no other participants, so
# there can't be any of these events.
_rclpy.rclpy_wait(wait_set, 0)
self.assertFalse(
_rclpy.rclpy_wait_set_is_ready('event', wait_set,
deadline_event_index))
self.assertFalse(
_rclpy.rclpy_wait_set_is_ready('event', wait_set,
liveliness_event_index))
# Calling take data even though not ready should provide me an empty initialized message
# Tests data conversion utilities in C side
try:
with deadline_event_handle as event_capsule, publisher.handle as publisher_capsule:
event_data = _rclpy.rclpy_take_event(
event_capsule, publisher_capsule, QoSPublisherEventType.
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)
self.assertIsInstance(event_data, QoSOfferedDeadlineMissedInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
except NotImplementedError:
pass
try:
with liveliness_event_handle as event_capsule, publisher.handle as publisher_capsule:
event_data = _rclpy.rclpy_take_event(
event_capsule, publisher_capsule,
QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST)
self.assertIsInstance(event_data, QoSLivelinessLostInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
except NotImplementedError:
pass
self.node.destroy_publisher(publisher)
def test_call_subscription_rclpy_event_apis(self):
# Go through the exposed apis and ensure that things don't explode when called
# Make no assumptions about being able to actually receive the events
subscription = self.node.create_subscription(EmptyMsg, 'test_topic', Mock(), 10)
wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
with self.context.handle as context_handle:
_rclpy.rclpy_wait_set_init(wait_set, 0, 0, 0, 0, 0, 2, context_handle)
deadline_event_handle = self._create_event_handle(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
with deadline_event_handle as capsule:
deadline_event_index = _rclpy.rclpy_wait_set_add_entity('event', wait_set, capsule)
self.assertIsNotNone(deadline_event_index)
liveliness_event_handle = self._create_event_handle(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
with liveliness_event_handle as capsule:
liveliness_event_index = _rclpy.rclpy_wait_set_add_entity('event', wait_set, capsule)
self.assertIsNotNone(liveliness_event_index)
# We live in our own namespace and have created no other participants, so
# there can't be any of these events.
_rclpy.rclpy_wait(wait_set, 0)
self.assertFalse(_rclpy.rclpy_wait_set_is_ready('event', wait_set, deadline_event_index))
self.assertFalse(_rclpy.rclpy_wait_set_is_ready('event', wait_set, liveliness_event_index))
# Calling take data even though not ready should provide me an empty initialized message
# Tests data conversion utilities in C side
try:
with deadline_event_handle as event_capsule, subscription.handle as parent_capsule:
event_data = _rclpy.rclpy_take_event(
event_capsule,
parent_capsule,
QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
self.assertIsInstance(event_data, QoSRequestedDeadlineMissedInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
except NotImplementedError:
pass
try:
with liveliness_event_handle as event_capsule, subscription.handle as parent_capsule:
event_data = _rclpy.rclpy_take_event(
event_capsule,
parent_capsule,
QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
self.assertIsInstance(event_data, QoSLivelinessChangedInfo)
self.assertEqual(event_data.alive_count, 0)
self.assertEqual(event_data.alive_count_change, 0)
self.assertEqual(event_data.not_alive_count, 0)
self.assertEqual(event_data.not_alive_count_change, 0)
except NotImplementedError:
pass
self.node.destroy_subscription(subscription)
def is_ready(self, wait_set):
"""Return True if entities are ready in the wait set."""
if self._event_index is None:
return False
if _rclpy.rclpy_wait_set_is_ready('event', wait_set, self._event_index):
self._ready_to_take_data = True
return self._ready_to_take_data
def is_ready(self, wait_set):
"""Return True if entities are ready in the wait set."""
if _rclpy.rclpy_wait_set_is_ready('service', wait_set, self.server_index):
self.server_is_ready = True
return self.server_is_ready
def is_ready(self, wait_set):
"""Return True if entities are ready in the wait set."""
if _rclpy.rclpy_wait_set_is_ready('guard_condition', wait_set, self.guard_condition_index):
self.guard_is_ready = True
return self.guard_is_ready
