def test_domain_participant_qos_to_string():
the_qos = dds.DomainParticipantQos()
assert str(the_qos) != ""
assert "<participant_qos>" in str(the_qos)
assert "</participant_qos>" in str(the_qos)
min_length = len(str(the_qos))
the_qos << dds.EntityFactory(False)
assert min_length != len(str(the_qos))
assert "<entity_factory>" in str(the_qos)
def test_set_qos_exception():
p = dds.DomainParticipant(DOMAIN_ID, dds.DomainParticipantQos())
qos = p.qos
d = dds.Duration(77)
db = dds.Database()
db.shutdown_cleanup_period = d
qos << db
with pytest.raises(dds.ImmutablePolicyError):
p.qos = qos
def test_participant_creation_w_qos():
user_data_values = [10, 11, 12, 13, 14, 15]
qos = dds.DomainParticipantQos()
qos.user_data.value = user_data_values
qos.database.shutdown_cleanup_period = dds.Duration.from_milliseconds(100)
p = dds.DomainParticipant(DOMAIN_ID, qos)
retrieved_qos = p.qos
assert retrieved_qos.user_data.value == user_data_values
assert (
retrieved_qos.database.shutdown_cleanup_period
== dds.Duration.from_milliseconds(100)
)
def test_set_get_qos():
p = utils.create_participant()
qos = p.qos
assert qos.entity_factory.autoenable_created_entities
qos << dds.EntityFactory.manually_enable()
assert not (qos.entity_factory.autoenable_created_entities)
p.qos = qos
# assert qos == p.qos
assert not (qos.entity_factory.autoenable_created_entities)
qos << dds.EntityFactory.auto_enable()
p << qos
retrieved_qos = dds.DomainParticipantQos()
p >> retrieved_qos
assert retrieved_qos.entity_factory.autoenable_created_entities
def test_find_extensions():
p_qos = dds.DomainParticipantQos()
p_qos << dds.EntityName("MyParticipant1")
assert p_qos.participant_name.name == "MyParticipant1"
p1 = dds.DomainParticipant(DOMAIN_ID, p_qos)
assert p1.qos.participant_name.name == "MyParticipant1"
p_qos << dds.EntityName("MyParticipant2")
p2 = dds.DomainParticipant(DOMAIN_ID, p_qos)
assert dds.DomainParticipant.find("MyParticipant1") == p1
assert dds.DomainParticipant.find("MyParticipant2") == p2
assert dds.DomainParticipant.find("MyParticipant3") == None
def test_retain_for_listener(set_after):
listener = dds.NoOpDomainParticipantListener()
if set_after:
p = utils.create_participant()
p.bind_listener(listener, dds.StatusMask.none())
else:
p = dds.DomainParticipant(DOMAIN_ID, dds.DomainParticipantQos(), listener)
def inner():
with dds.DomainParticipant.find(DOMAIN_ID) as new_p:
assert new_p != None
new_p.bind_listener(None, dds.StatusMask.none())
inner()
assert dds.DomainParticipant.find(DOMAIN_ID) == None
def __init__(self, domain_id, use_dynamic_data, use_qos_object,
use_custom_topic, use_replier_cft, use_pub_sub_args,
use_callback_funcs, use_simple_replier):
qos = dds.DomainParticipantQos()
qos.database.shutdown_cleanup_period = dds.Duration.from_milliseconds(
100)
self._participant = dds.DomainParticipant(domain_id, qos)
if use_dynamic_data:
self._type = get_keyed_string_dynamic_type()
self.create_data_fnc = create_dynamic_rr_data
self.parse_data_fnc = parse_dynamic_rr_data
self.copy_sample_fnc = copy_dynamic_sample
create_topic_func = create_dynamic_topic
else:
self._type = type_cls = dds.KeyedStringTopicType
self.create_data_fnc = create_rr_data
self.parse_data_fnc = parse_rr_data
self.copy_sample_fnc = copy_sample
create_topic_func = create_topic
service_name = 'Test'
if use_qos_object:
request_writer_qos = request.Requester.default_writer_qos
request_reader_qos = request.Replier.default_reader_qos
reply_writer_qos = request.Replier.default_writer_qos
reply_reader_qos = request.Requester.default_reader_qos
else:
request_writer_qos = request_reader_qos = reply_writer_qos = reply_reader_qos = None
if use_custom_topic:
# Test with custom Topic object
request_topic = create_topic_func(self._participant, 'TestRequest')
# Test with custom string Topic name
reply_topic = 'TestReply'
else:
request_topic = reply_topic = None
if use_replier_cft:
replier_filter = dds.Filter("NOT (key MATCH 'filtered')")
request_reader_topic = create_topic_func(
self._participant,
'TestRequest') if request_topic is None else request_topic
if isinstance(self._type, dds.DynamicType):
request_reader_topic = dds.DynamicData.ContentFilteredTopic(
request_reader_topic, 'request_cft', replier_filter)
else:
request_reader_topic = dds.KeyedStringTopicType.ContentFilteredTopic(
request_reader_topic, 'request_cft', replier_filter)
else:
request_reader_topic = request_topic
if use_pub_sub_args:
publisher = dds.Publisher(self._participant)
subscriber = dds.Subscriber(self._participant)
else:
publisher = subscriber = None
self._cb = use_callback_funcs
self._request_queue = queue.Queue()
self._reply_queue = queue.Queue()
if use_callback_funcs:
def replier_callback(replier):
for sample in (s for s in replier.take_requests()
if s.info.valid):
self._request_queue.put(self.copy_sample_fnc(sample))
def requester_callback(requester):
for sample in (s for s in requester.take_replies()
if s.info.valid):
self._reply_queue.put(self.copy_sample_fnc(sample))
else:
replier_callback = requester_callback = None
self._requester = request.Requester(self._type, self._type,
self._participant, service_name,
request_topic, reply_topic,
request_writer_qos,
reply_reader_qos, publisher,
subscriber, requester_callback)
self._simple = use_simple_replier
if use_simple_replier:
def simple_replier_callback(request):
key, value = self.parse_data_fnc(request)
reply = self.create_data_fnc(key, value + ' reply')
return reply
self._replier = request.SimpleReplier(
self._type, self._type, self._participant,
simple_replier_callback, service_name, request_reader_topic,
reply_topic, reply_writer_qos, request_reader_qos, publisher,
subscriber)
else:
self._replier = request.Replier(self._type, self._type,
self._participant, service_name,
request_reader_topic, reply_topic,
reply_writer_qos,
request_reader_qos, publisher,
subscriber, replier_callback)
def test_getters():
DEFAULT_PROFILE = "my_default_profile1"
TEST_LIB = "my_test_library1"
domain_participant_qos = dds.DomainParticipantQos()
pub_qos = dds.PublisherQos()
dw_qos = dds.DataWriterQos()
sub_qos = dds.SubscriberQos()
dr_qos = dds.DataWriterQos()
topic_qos = dds.TopicQos()
topic_a = "topic_A"
topic_b = "topic_B"
my_uri = LOCATION + "../xml/QosProviderTest_qos1.xml"
qos_provider = dds.QosProvider(my_uri)
my_other_profile_name = "my_other_profile1"
assert qos_provider.default_library == TEST_LIB
assert qos_provider.default_profile == DEFAULT_PROFILE
assert qos_provider.default_profile_library == TEST_LIB
domain_participant_qos = qos_provider.participant_qos
assert domain_participant_qos.participant_name.name == "defaultParticipantName"
pub_qos = qos_provider.publisher_qos
assert pub_qos.entity_name.name == "defaultPublisherName"
dw_qos = qos_provider.datawriter_qos
assert dw_qos.entity_name.name == "defaultPublicationName"
dw_qos = qos_provider.get_topic_datawriter_qos(topic_a)
assert dw_qos.entity_name.name == "defaultPublicationNameA"
dw_qos = qos_provider.get_topic_datawriter_qos(topic_b)
assert dw_qos.entity_name.name == "defaultPublicationNameB"
sub_qos = qos_provider.subscriber_qos
assert sub_qos.entity_name.name == "defaultSubscriberName"
dr_qos = qos_provider.datareader_qos
assert dr_qos.entity_name.name == "defaultSubscriptionName"
dr_qos = qos_provider.get_topic_datareader_qos(topic_a)
assert dr_qos.entity_name.name == "defaultSubscriptionNameA"
dr_qos = qos_provider.get_topic_datareader_qos(topic_b)
assert dr_qos.entity_name.name == "defaultSubscriptionNameB"
topic_qos = qos_provider.topic_qos
assert topic_qos.resource_limits.max_samples == 100
topic_qos = qos_provider.get_topic_name_qos(topic_a)
assert topic_qos.resource_limits.max_samples == 101
topic_qos = qos_provider.get_topic_name_qos(topic_b)
assert topic_qos.resource_limits.max_samples == 102
# Start using my_other_profile_name
domain_participant_qos = qos_provider.participant_qos_from_profile(
my_other_profile_name)
assert domain_participant_qos.participant_name.name == "otherParticipantName"
pub_qos = qos_provider.publisher_qos_from_profile(my_other_profile_name)
assert pub_qos.entity_name.name == "otherPublisherName"
dw_qos = qos_provider.datawriter_qos_from_profile(my_other_profile_name)
assert dw_qos.entity_name.name == "otherPublicationName"
dw_qos = qos_provider.set_topic_datawriter_qos(my_other_profile_name,
topic_a)
assert dw_qos.entity_name.name == "otherPublicationNameA"
dw_qos = qos_provider.set_topic_datawriter_qos(my_other_profile_name,
topic_b)
assert dw_qos.entity_name.name == "otherPublicationNameB"
sub_qos = qos_provider.subscriber_qos_from_profile(my_other_profile_name)
assert sub_qos.entity_name.name == "otherSubscriberName"
dr_qos = qos_provider.datareader_qos_from_profile(my_other_profile_name)
assert dr_qos.entity_name.name == "otherSubscriptionName"
dr_qos = qos_provider.set_topic_datareader_qos(my_other_profile_name,
topic_a)
assert dr_qos.entity_name.name == "otherSubscriptionNameA"
dr_qos = qos_provider.set_topic_datareader_qos(my_other_profile_name,
topic_b)
assert dr_qos.entity_name.name == "otherSubscriptionNameB"
topic_qos = qos_provider.topic_qos_from_profile(my_other_profile_name)
assert topic_qos.resource_limits.max_samples == 200
topic_qos = qos_provider.set_topic_name_qos(my_other_profile_name, topic_a)
assert topic_qos.resource_limits.max_samples == 201
topic_qos = qos_provider.set_topic_name_qos(my_other_profile_name, topic_b)
assert topic_qos.resource_limits.max_samples == 202
def test_participant_creation_failure():
qos = dds.DomainParticipantQos()
qos.resource_limits.type_object_max_serialized_length = -2
with pytest.raises(dds.Error):
dds.DomainParticipant(0, qos)
def test_participant_creation_w_listener():
l = dds.NoOpDomainParticipantListener()
p = dds.DomainParticipant(DOMAIN_ID, dds.DomainParticipantQos(), l)
assert p.listener == l
p.close()
def test_participant_creation_w_default_qos():
p = dds.DomainParticipant(DOMAIN_ID, dds.DomainParticipantQos())
assert p.domain_id == DOMAIN_ID
event_count = p.qos.event.max_count
assert event_count == dds.Event().max_count
def scope_1():
p1 = utils.create_participant()
p2 = dds.DomainParticipant(id2, dds.DomainParticipantQos())
p1.retain()
def create_participant(domain_id=0):
qos = dds.DomainParticipantQos()
qos.database.shutdown_cleanup_period = dds.Duration.from_milliseconds(10)
return dds.DomainParticipant(domain_id, qos)