def test_qos_inheritance():
qos = Qos(Policy.Durability.Volatile)
qos2 = Qos(Policy.Deadline(10), base=qos)
qos3 = Qos(Policy.Durability.Transient, base=qos)
assert qos2 == Qos(Policy.Durability.Volatile, Policy.Deadline(10)) == Qos(Policy.Deadline(10), Policy.Durability.Volatile)
assert qos3 == Qos(Policy.Durability.Transient)
assert qos3 != Qos()
assert qos3 != Qos(Policy.Durability.Volatile)
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_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_qos_raise_wrong_usage():
with pytest.raises(NotImplementedError):
Policy()
with pytest.raises(NotImplementedError):
Policy.Durability()
with pytest.raises(TypeError):
Policy.Durability.Persistent()
with pytest.raises(TypeError):
Qos(1)
with pytest.raises(ValueError):
Qos(Policy.Durability.Persistent, Policy.Durability.Volatile)
with pytest.raises(ValueError):
Qos.fromdict({"Durability": {}})
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 test_data_representation_writer_dualreader_match():
qosv0 = Qos(Policy.DataRepresentation(use_cdrv0_representation=True))
qosv2 = Qos(Policy.DataRepresentation(use_xcdrv2_representation=True))
qosv0v2 = Qos(
Policy.DataRepresentation(use_cdrv0_representation=True,
use_xcdrv2_representation=True))
dp = DomainParticipant(0)
tp = Topic(dp, "Message", Message)
dr = DataReader(dp, tp, qos=qosv0v2)
dwv0 = DataWriter(dp, tp, qos=qosv0)
dwv2 = DataWriter(dp, tp, qos=qosv2)
msg1 = Message("Hello")
dwv0.write(msg1)
assert dr.read_next() == msg1
msg2 = Message("Hi!")
dwv2.write(msg2)
assert dr.read_next() == msg2
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
import pytest
import itertools
from cyclonedds.qos import Policy, Qos, _CQos
some_qosses = [
Qos(Policy.Reliability.BestEffort),
Qos(Policy.Reliability.Reliable(22)),
Qos(Policy.Durability.Volatile),
Qos(Policy.Durability.TransientLocal),
Qos(Policy.Durability.Transient),
Qos(Policy.Durability.Persistent),
Qos(Policy.History.KeepAll),
Qos(Policy.History.KeepLast(10)),
Qos(Policy.ResourceLimits(3, 4, 5)),
Qos(Policy.PresentationAccessScope.Instance(False, True)),
Qos(Policy.PresentationAccessScope.Topic(True, True)),
Qos(Policy.PresentationAccessScope.Group(False, False)),
Qos(Policy.Lifespan(12001)),
Qos(Policy.Deadline(2129981)),
Qos(Policy.LatencyBudget(1337)),
Qos(Policy.Ownership.Shared),
Qos(Policy.Ownership.Exclusive),
Qos(Policy.OwnershipStrength(8)),
Qos(Policy.Liveliness.Automatic(898989)),
Qos(Policy.Liveliness.ManualByParticipant(898989)),
Qos(Policy.Liveliness.ManualByTopic(898989)),
Qos(Policy.TimeBasedFilter(999900999)),
Qos(Policy.Partition(["a", "b", "8isdfijsdifij3e8"])),
Qos(Policy.TransportPriority(9)),
Qos(Policy.DestinationOrder.ByReceptionTimestamp),
def check_py_c_key_equivalence(log: Stream, ctx: FullContext, typename: str,
num_samples: int) -> bool:
datatype = ctx.get_datatype(typename)
if datatype.__idl__.keyless:
return True
samples = [
generate_random_instance(datatype, seed=i) for i in range(num_samples)
]
# We need to make sure the samples all have unique keys to make sure that we agree
# on sample ordering with C
keysamples = {}
for s in samples:
keysamples[datatype.__idl__.key(s)] = s
samples = list(keysamples.values())
dp = DomainParticipant()
tp = Topic(dp, typename, datatype)
dw = DataWriter(
dp,
tp,
qos=Qos(Policy.DataRepresentation(use_xcdrv2_representation=True),
Policy.History.KeepLast(len(samples)),
Policy.Reliability.Reliable(duration(seconds=2)),
Policy.DestinationOrder.BySourceTimestamp))
dw.set_status_mask(DDSStatus.PublicationMatched)
dw.take_status()
ctx.c_app.run(typename, len(samples))
now = time.time()
while (dw.take_status() & DDSStatus.PublicationMatched) == 0:
if time.time() - now > 4:
# timeout if C app did not start up within 4 seconds
ctx.c_app.result()
log << f"C-app did not communicate with Python:" << log.endl << log.indent
log << ctx.c_app.last_error << log.endl
log << log.dedent
return False
time.sleep(0.001)
time.sleep(0.5)
for sample in samples:
dw.write(sample)
time.sleep(0.002)
hashes = ctx.c_app.result()
success = True
if not hashes:
log << f"C-app did not return output, stderr:" << log.endl << log.indent
log << ctx.c_app.last_error << log.endl
log << f"stdout:" << log.endl
log << ctx.c_app.last_out << log.endl
log << log.dedent << "Example sample sent:" << log.endl << log.indent
log << samples[0] << log.endl << samples[0].serialize()
log << log.dedent
return False
if len(hashes) != len(samples):
log << f"C-app did not return as many samples as were sent, stderr:" << log.endl << log.indent
log << ctx.c_app.last_error << log.endl
log << f"stdout:" << log.endl
log << ctx.c_app.last_out << log.endl << log.dedent
log << log.dedent << "Example sample sent:" << log.endl << log.indent
log << samples[0] << log.endl << samples[0].serialize()
success = False
for i in range(min(len(hashes), len(samples))):
c_key = hashes[i]
py_key = datatype.__idl__.key(samples[i], use_version_2=True)
if not py_key == c_key:
log << "PY-C Keys do not match!" << log.endl << log.indent
log << "Instance: " << samples[i] << log.endl
log << "Serialized Instance:" << log.endl << samples[i].serialize()
log << "Python key:" << log.endl << py_key
log << "C key:" << log.endl << c_key
log << log.dedent
return False
return success