def testTopic_bytesData(self):
myData = b'Topic Bytes Topic Data'
builtinTopicName = 'DCPSTopic'
sawMyData = Event()
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n = 1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(r[0].data.topic_data.value)
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(builtin_topic_info.topic, qos=builtin_topic_info.topic.qos, listener=L())
# Register a topic with a TopicdataQosPolicy
t_qos = dds.Qos(policies=[dds.TopicdataQosPolicy(myData)])
info = ddsutil.get_dds_classes_from_idl('idl/Shapes.idl', "ShapeType")
t = info.register_topic(self.dp, "T_testTopic_bytesData", t_qos)
self.assertIsNotNone(t, "Topic registration failed")
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
def testParticipant_bytesData(self):
myData = b'DP Bytes User Data'
builtinTopicName = 'DCPSParticipant'
sawMyData = Event()
dp_qos_txt = dds.Qos(policies=[dds.UserdataQosPolicy(myData)])
dp2 = dds.DomainParticipant(qos=dp_qos_txt)
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n = 1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(r[0].data.user_data.value)
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(builtin_topic_info.topic, qos=builtin_topic_info.topic.qos, listener=L())
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
dp2.close()
def testSimplifiedFindAPI(self):
idl_path = 'idl/' + 'Thales' + '.idl'
type_info = 'test::C_TopicStruct'
gen_info = ddsutil.get_dds_classes_from_idl(idl_path, type_info)
dp1 = DomainParticipant()
tq1 = Qos([DurabilityQosPolicy(DDSDurabilityKind.PERSISTENT)])
topic_dp1 = gen_info.register_topic(dp1, 'DP1_C_TopicStruct_2',tq1)
self.assertEqual('DP1_C_TopicStruct_2', topic_dp1.name, 'Topic name not as expected')
self.assertEqual(type_info, topic_dp1.type_name, 'Type name not as expected')
self.assertEqual('A_ID.A_ID,A_ID.A_subID', topic_dp1.keylist, 'Key list not as expected')
self.assertEqual('<MetaData version="1.0.0"><Module name="test"><Struct name="T_ID"><Member name="A_ID"><Long/></Member><Member name="A_subID"><Long/></Member></Struct><TypeDef name="T_IDList"><Sequence><Type name="T_ID"/></Sequence></TypeDef><Struct name="C_TopicStruct"><Member name="A_ID"><Type name="T_ID"/></Member><Member name="A_ForeignIDList"><Type name="T_IDList"/></Member><Member name="value"><Long/></Member></Struct></Module></MetaData>',
topic_dp1.metadescriptor, 'Meta descriptor not as expected')
dp2 = DomainParticipant()
topic_dp2, gen_info2 = ddsutil.find_and_register_topic(dp2, 'DP1_C_TopicStruct_2')
self.assertIsNotNone(topic_dp2, 'Found topic is not None')
self.assertEqual('DP1_C_TopicStruct_2', topic_dp2.name, 'Found topic name not as expected')
self.assertEqual(type_info, topic_dp2.type_name, 'Found type name not as expected')
self.assertEqual('A_ID.A_ID,A_ID.A_subID', topic_dp2.keylist, 'Found key list not as expected')
self.assertEqual('<MetaData version="1.0.0"><Module name="test"><Struct name="T_ID"><Member name="A_ID"><Long/></Member><Member name="A_subID"><Long/></Member></Struct><TypeDef name="T_IDList"><Sequence><Type name="T_ID"/></Sequence></TypeDef><Struct name="C_TopicStruct"><Member name="A_ID"><Type name="T_ID"/></Member><Member name="A_ForeignIDList"><Type name="T_IDList"/></Member><Member name="value"><Long/></Member></Struct></Module></MetaData>',
topic_dp2.metadescriptor, 'Found meta descriptor not as expected')
sub2 = dp2.create_subscriber()
# now register the found topic locally, and test reading and writing between the participants
self.assertIsNotNone(gen_info2, 'Returned gen_info2 is None')
tq2 = topic_dp2.qos
self.assertIsNotNone(tq2)
# TODO: need get copy topic qos
#local_topic_dp2 = register_topic_locally(topic_dp2)
# local_topic_dp2 = gen_info2.register_topic(dp2, topic_dp2.get_name(), tq2)
# Reader for dp2
result_holder = ResultHolder()
event = Event()
rd2 = sub2.create_datareader(topic_dp2, tq2, DataAvailableListener(result_holder, event))
# Writer for dp1
pub1 = dp1.create_publisher()
wr1 = pub1.create_datawriter(topic_dp1, tq1)
# create the data
Outer = gen_info.get_class('test::C_TopicStruct')
Inner = gen_info.get_class('test::T_ID')
data1 = Outer()
data1.A_ID = Inner(A_ID=21,A_subID=212)
data1.A_ForeignIDList = [Inner(A_ID=22,A_subID=223),Inner(A_ID=23,A_subID=234)]
data1.value = 242
wr1.write(data1)
# let the listener catch up...
self.assertTrue(event.wait(10.0), 'wait timed out')
self.assertEqual(str(data1), result_holder.result, 'read and write results do not match')
def test_inconsistent_topic_status(self):
dp = dds.DomainParticipant()
t, _ = ddsutil.find_and_register_topic(dp, 'DCPSParticipant')
status = t.inconsistent_topic_status()
self.assertIsNotNone(status, 'status is None')
self.assertTrue(hasattr(status, 'total_count'))
self.assertTrue(hasattr(status, 'total_count_change'))
self.assertIsInstance(status.total_count, int)
self.assertIsInstance(status.total_count_change, int)
def test_inconsistent_topic_status(self):
dp = dds.DomainParticipant()
t, _ = ddsutil.find_and_register_topic(dp, 'DCPSParticipant')
status = t.inconsistent_topic_status()
self.assertIsNotNone(status, 'status is None')
self.assertTrue(hasattr(status, 'total_count'))
self.assertTrue(hasattr(status, 'total_count_change'))
self.assertIsInstance(status.total_count, int)
self.assertIsInstance(status.total_count_change, int)
def testGroup_textData(self):
myData = 'Pub Text Group Data'
builtinTopicName = 'DCPSPublication'
sawMyData = Event()
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n=1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(r[0].data.group_data.value).decode(
'ISO-8859-1')
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(
qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(
self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(
builtin_topic_info.topic,
qos=builtin_topic_info.topic.qos,
listener=L())
# Register a topic with a TopicdataQosPolicy
p_qos = dds.Qos(policies=[dds.GroupdataQosPolicy(myData)])
pub = self.dp.create_publisher(p_qos)
info = ddsutil.get_dds_classes_from_idl('idl/Shapes.idl', "ShapeType")
t = info.register_topic(self.dp, "T_testGroup_textData")
self.assertIsNotNone(t, "Topic registration failed")
dw = pub.create_datawriter(t)
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
dw.close()
pub.close()
def testParticipant_textData(self):
myData = 'DP Text User Data'
builtinTopicName = 'DCPSParticipant'
sawMyData = Event()
dp_qos_txt = dds.Qos(policies=[dds.UserdataQosPolicy(myData)])
dp2 = dds.DomainParticipant(qos=dp_qos_txt)
class L(dds.Listener):
def on_data_available(self, reader):
nonlocal sawMyData
while True:
r = reader.take(n=1)
if len(r) == 0:
break
elif r[0].status.valid_data:
try:
v = bytes(
r[0].data.user_data.value).decode('ISO-8859-1')
if v == myData:
sawMyData.set()
break
except UnicodeError:
pass
builtin_sub = self.dp.create_subscriber(
qos=dds.Qos([dds.PartitionQosPolicy(['__BUILT-IN PARTITION__'])]))
builtin_topic_info = ddsutil.find_and_register_topic(
self.dp, builtinTopicName)
builtin_reader = builtin_sub.create_datareader(
builtin_topic_info.topic,
qos=builtin_topic_info.topic.qos,
listener=L())
self.assertTrue(sawMyData.wait(10), 'Did not see expected data')
builtin_reader.close()
dp2.close()
