def test_publisher(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm,
publish_period=0.1)
model_message = self._model_message()
self._fix_and_publish(dut, AbstractValue.Make(model_message))
raw = lcm.get_last_published_message("TEST_CHANNEL")
actual_message = quaternion_t.decode(raw)
self.assert_lcm_equal(actual_message, model_message)
def test_publisher(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm,
publish_period=0.1)
model_message = self._model_message()
self._fix_and_publish(dut, AbstractValue.Make(model_message))
raw = lcm.get_last_published_message("TEST_CHANNEL")
actual_message = quaternion_t.decode(raw)
self.assert_lcm_equal(actual_message, model_message)
def test_publisher_cpp(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm,
use_cpp_serializer=True)
model_message = self._model_message()
model_value = self._model_value_cpp()
self._fix_and_publish(dut, model_value)
raw = lcm.get_last_published_message("TEST_CHANNEL")
actual_message = quaternion_t.decode(raw)
self.assert_lcm_equal(actual_message, model_message)
def test_publisher_cpp(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm,
use_cpp_serializer=True)
model_message = self._model_message()
model_value = self._model_value_cpp()
self._fix_and_publish(dut, model_value)
raw = lcm.get_last_published_message("TEST_CHANNEL")
actual_message = quaternion_t.decode(raw)
self.assert_lcm_equal(actual_message, model_message)
def test_serializer(self):
dut = mut.PySerializer(quaternion_t)
model_message = self._model_message()
value = dut.CreateDefaultValue()
self.assert_lcm_not_equal(value.get_value(), model_message)
# Check deserialization.
dut.Deserialize(model_message.encode(), value)
self.assert_lcm_equal(value.get_value(), model_message)
# Check serialization.
raw = dut.Serialize(value)
reconstruct = quaternion_t.decode(raw)
self.assert_lcm_equal(reconstruct, model_message)
def test_serializer(self):
dut = mut.PySerializer(quaternion_t)
model_message = self._model_message()
value = dut.CreateDefaultValue()
self.assert_lcm_not_equal(value.get_value(), model_message)
# Check deserialization.
dut.Deserialize(model_message.encode(), value)
self.assert_lcm_equal(value.get_value(), model_message)
# Check serialization.
raw = dut.Serialize(value)
reconstruct = quaternion_t.decode(raw)
self.assert_lcm_equal(reconstruct, model_message)
def test_publisher(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm)
model = self._model_message()
dut.set_publish_period(period=0.1)
context = dut.CreateDefaultContext()
context.FixInputPort(0, AbstractValue.Make(model))
dut.Publish(context)
raw = lcm.get_last_published_message("TEST_CHANNEL")
value = quaternion_t.decode(raw)
self.assert_lcm_equal(value, model)
def test_publisher(self):
lcm = DrakeMockLcm()
dut = mut.LcmPublisherSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm)
model = self._model_message()
dut.set_publish_period(period=0.1)
context = dut.CreateDefaultContext()
context.FixInputPort(0, AbstractValue.Make(model))
dut.Publish(context)
raw = lcm.get_last_published_message("TEST_CHANNEL")
value = quaternion_t.decode(raw)
self.assert_lcm_equal(value, model)
def _cpp_value_to_py_message(self, value):
serializer = mut._Serializer_[quaternion_t]()
raw = serializer.Serialize(value)
return quaternion_t.decode(raw)
def _handler(self, raw):
quat = quaternion_t.decode(raw)
self.assertTupleEqual((quat.w, quat.x, quat.y, quat.z), self.wxyz)
self.count += 1
def _cpp_value_to_py_message(self, value):
serializer = mut._Serializer_[quaternion_t]()
raw = serializer.Serialize(value)
return quaternion_t.decode(raw)
def handler(raw):
msg = quaternion_t.decode(raw)
self.assertTupleEqual((msg.w, msg.x, msg.y, msg.z), wxyz)
called[0] = True
def _handler(self, raw):
quat = quaternion_t.decode(raw)
self.assertTupleEqual((quat.w, quat.x, quat.y, quat.z), self.wxyz)
self.count += 1
