def test_reader_resizebuffer():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert len(dr.read(N=100)) == 0
assert len(dr.read(N=200)) == 0
assert len(dr.read(N=100)) == 0
def test_reader_invalid():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
with pytest.raises(TypeError):
dr.read(-1)
with pytest.raises(TypeError):
dr.take(-1)
def test_dynamic_subscribe(common_setup):
type_id = common_setup.tp.data_type.__idl__.get_type_id()
dp = DomainParticipant(common_setup.dp.domain_id)
datatype, _ = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
tp = Topic(dp, common_setup.tp.name, datatype)
dr = DataReader(dp, tp)
common_setup.dw.write(common_setup.msg)
assert dr.read()[0].message == common_setup.msg.message
def test_keyed_type_alignment():
dp = DomainParticipant()
tp = Topic(dp, "Test", KeyedArrayType)
dw = DataWriter(dp, tp)
dr = DataReader(dp, tp)
samp1 = KeyedArrayType(['u' * 17, 's' * 13, 'b' * 23],
['u' * 3, 's' * 5, 'b' * 7], [-1] * 3, [-1] * 3,
[-1] * 3, [-1] * 3)
dw.write(samp1)
samp2 = dr.read()[0]
assert KeyedArrayType.cdr.key(samp1) == KeyedArrayType.cdr.key(samp2)
def test_readcondition_read(common_setup):
tp = Topic(common_setup.dp, "hi_sayer", MessageKeyed)
dr = DataReader(common_setup.dp, tp)
dw = DataWriter(common_setup.dp, tp)
rc = ReadCondition(dr, SampleState.Any | ViewState.Any | InstanceState.NotAliveDisposed)
assert not rc.triggered
messages = [MessageKeyed(user_id=i, message=f"Hi {i}!") for i in range(5)]
for m in messages:
dw.write(m)
received = dr.read(N=5)
assert messages == received
dw.dispose(messages[1])
assert rc.triggered
received = dr.read(condition=rc)
assert len(received) == 1 and received[0] == messages[1]
def test_dynamic_publish_complex():
dp = DomainParticipant()
tp = Topic(dp, 'DynTest', XStruct)
rd = DataReader(dp, tp)
type_id = XStruct.__idl__.get_type_id()
datatype, tmap = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
assert datatype.__idl__.get_type_id() == XStruct.__idl__.get_type_id()
tp = Topic(dp, 'DynTest', datatype)
wr = DataWriter(dp, tp)
wr.write(datatype(A=tmap['XUnion'](A=tmap['XEnum'].V1), k=1))
assert rd.read()[0].k == 1
def test_dynamic_subscribe_complex():
dp = DomainParticipant()
tp = Topic(dp, 'DynTest', XStruct)
wr = DataWriter(dp, tp)
type_id = XStruct.__idl__.get_type_id()
datatype, tmap = get_types_for_typeid(dp, type_id, duration(seconds=1))
assert datatype
assert datatype.__idl__.get_type_id() == XStruct.__idl__.get_type_id()
tp = Topic(dp, 'DynTest', datatype)
dr = DataReader(dp, tp)
wr.write(XStruct(A=XUnion(A=XEnum.V1), k=1))
assert dr.read()[0].k == 1
# Define a HelloWorld datatype with one member, data, with as type 'string'
# In IDL this would be defined as "struct HelloWorld { string data; };"
@dataclass
class HelloWorld(IdlStruct, typename="HelloWorld.Msg"):
data: str
# Create a DomainParticipant, your entrypoint to DDS
# The default domain id is 0.
dp = DomainParticipant()
# Create a Topic with topic name "Hello" and as datatype "HelloWorld" structs.
tp = Topic(dp, "Hello", HelloWorld)
# Create a DataWriter that can send structs on the "Hello" topic
dw = DataWriter(dp, tp)
# Create a DataReader that can receive structs on the "Hello" topic
dr = DataReader(dp, tp)
# Create a HelloWorld sample and write it to the network
sample = HelloWorld(data='Hello, World!')
dw.write(sample)
# Read samples from the network and print the data in the first one
# This should print "Hello, World!"
sample = dr.read()[0]
print(sample.data)
