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_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_subscriber_wait_for_message(self):
"""Checks how `WaitForMessage` works without Python threads."""
lcm = DrakeLcm()
sub = mut.LcmSubscriberSystem.Make("TEST_LOOP", header_t, lcm)
value = AbstractValue.Make(header_t())
for old_message_count in range(3):
message = header_t()
message.utime = old_message_count + 1
lcm.Publish("TEST_LOOP", message.encode())
for attempt in range(10):
new_count = sub.WaitForMessage(
old_message_count, value, timeout=0.02)
if new_count > old_message_count:
break
lcm.HandleSubscriptions(0)
self.assertEqual(value.get_value().utime, old_message_count + 1)
def test_utime_to_seconds(self):
msg = header_t()
msg.utime = int(1e6)
with catch_drake_warnings(expected_count=1):
dut = mut.PyUtimeMessageToSeconds(header_t)
t_sec = dut.GetTimeInSeconds(AbstractValue.Make(msg))
self.assertEqual(t_sec, 1)
def publish_loop():
# Publishes a set of messages for the driven loop. This should be
# run from a separate process.
# N.B. Because of this, care should be taken not to share C++
# objects between process boundaries.
t = t_start
while t <= t_end:
message = header_t()
message.utime = int(1e6 * t)
lcm.Publish("TEST_LOOP", message.encode())
time.sleep(0.1)
t += 1
def publish_loop():
# Publishes a set of messages for the driven loop. This should be
# run from a separate process.
# N.B. Because of this, care should be taken not to share C++
# objects between process boundaries.
t = t_start
while t <= t_end:
message = header_t()
message.utime = int(1e6 * t)
lcm.Publish("TEST_LOOP", message.encode())
time.sleep(0.1)
t += 1
def test_utime_to_seconds(self):
msg = header_t()
msg.utime = int(1e6)
dut = mut.PyUtimeMessageToSeconds(header_t)
t_sec = dut.GetTimeInSeconds(AbstractValue.Make(msg))
self.assertEqual(t_sec, 1)
def test_utime_to_seconds(self):
msg = header_t()
msg.utime = int(1e6)
dut = mut.PyUtimeMessageToSeconds(header_t)
t_sec = dut.GetTimeInSeconds(AbstractValue.Make(msg))
self.assertEqual(t_sec, 1)
