def test_subscriber_wait_for_message_with_timeout(self):
"""Confirms that the subscriber times out."""
lcm = DrakeLcm("memq://")
with catch_drake_warnings(expected_count=1):
lcm.StartReceiveThread()
sub = mut.LcmSubscriberSystem.Make("TEST_LOOP", header_t, lcm)
sub.WaitForMessage(0, timeout=0.02)
def test_lcm(self):
dut = DrakeLcm()
self.assertIsInstance(dut, DrakeLcmInterface)
# Quickly start and stop the receiving thread.
dut.StartReceiveThread()
dut.StopReceiveThread()
# Test virtual function names.
dut.Publish
dut.HandleSubscriptions
def test_subscriber_wait_for_message(self):
"""Ensures that `WaitForMessage` threading works in a Python workflow
that is not threaded."""
# N.B. This will fail with `threading`. See below for using
# `multithreading`.
lcm = DrakeLcm("memq://")
lcm.StartReceiveThread()
sub = mut.LcmSubscriberSystem.Make("TEST_LOOP", header_t, lcm)
value = AbstractValue.Make(header_t())
for i in range(3):
message = header_t()
message.utime = i
lcm.Publish("TEST_LOOP", message.encode())
sub.WaitForMessage(i, value)
self.assertEqual(value.get_value().utime, i)
def test_lcm(self):
dut = DrakeLcm()
self.assertIsInstance(dut, DrakeLcmInterface)
# Quickly start and stop the receiving thread.
dut.StartReceiveThread()
dut.StopReceiveThread()
LcmPublisherSystem.Make('EST_ROBOT_STATE', robot_state_t, lcm))
robot_state_publisher.set_name('robot_state_publisher')
robot_state_publisher.set_publish_period(1e-3)
# Robot State Encoder
robot_state_output = builder.AddSystem(RobotStateOutput()) # force_sensor_info
robot_state_output.set_name('robot_state_output')
builder.Connect(robot_state_output.lcm_message_output_port(),
robot_state_publisher.get_input_port(0))
diagram = builder.Build()
# while(True):
# pub_context = diagram.GetMutableSubsystemContext(robot_state_publisher, diagram_context)
# robot_state_publisher.Publish(pub_context)
# simulation setting
diagram_context = diagram.CreateDefaultContext()
simulator = Simulator(diagram, diagram_context)
simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(1)
simulator.Initialize()
simulation_time = 10
lcm.StartReceiveThread()
simulator.StepTo(100)
lcm.StopReceiveThread()
