def test_record_reader(reader_path):
"""
Record reader.
"""
freader = record.RecordReader(reader_path)
time.sleep(1)
print('+' * 80)
print('+++ Begin to read +++')
count = 0
for channel_name, msg, datatype, timestamp in freader.read_messages():
count += 1
print('=' * 80)
print('read [%d] messages' % count)
print('channel_name -> %s' % channel_name)
print('msgtime -> %d' % timestamp)
print('msgnum -> %d' % freader.get_messagenumber(channel_name))
print('msgtype -> %s' % datatype)
print('message is -> %s' % msg)
print('***After parse(if needed),the message is ->')
if datatype == MSG_TYPE:
msg_new = SimpleMessage()
msg_new.ParseFromString(msg)
print(msg_new)
elif datatype == MSG_TYPE_CHATTER:
msg_new = Chatter()
msg_new.ParseFromString(msg)
print(msg_new)
def test_read_write(self):
"""
Unit test of reader.
"""
self.assertTrue(cyber.ok())
# Read.
reader_node = cyber.Node("listener")
reader = reader_node.create_reader("channel/chatter", SimpleMessage,
self.callback)
self.assertEqual(reader.name, "channel/chatter")
self.assertEqual(reader.data_type, SimpleMessage)
self.assertEqual(SimpleMessage.DESCRIPTOR.full_name,
"apollo.common.util.test.SimpleMessage")
# Write.
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
self.assertTrue(cyber.ok())
writer_node = cyber.Node("writer")
writer = writer_node.create_writer("channel/chatter", SimpleMessage, 7)
self.assertEqual(writer.name, "channel/chatter")
self.assertEqual(writer.data_type,
"apollo.common.util.test.SimpleMessage")
self.assertTrue(writer.write(msg))
# Wait for data to be processed by callback function.
time.sleep(0.1)
def test_record_writer(writer_path):
"""
record writer.
"""
fwriter = record.RecordWriter()
if not fwriter.open(writer_path):
print "writer open failed!"
return
print "+++ begin to writer..."
fwriter.write_channel(CHAN_1, MSG_TYPE, STR_10B)
fwriter.write_message(CHAN_1, STR_10B, 1000)
msg = SimpleMessage()
msg.text = "AAAAAA"
file_desc = msg.DESCRIPTOR.file
proto = FileDescriptorProto()
file_desc.CopyToProto(proto)
proto.name = file_desc.name
desc_str = proto.SerializeToString()
fwriter.write_channel('chatter_a', msg.DESCRIPTOR.full_name, desc_str)
fwriter.write_message('chatter_a', msg, 998, False)
fwriter.write_message("chatter_a", msg.SerializeToString(), 999)
fwriter.close()
def test_record_reader(reader_path):
"""
record reader.
"""
freader = record.RecordReader(reader_path)
time.sleep(1)
print "+" * 80
print "+++begin to read..."
count = 1
for channelname, msg, datatype, timestamp in freader.read_messages():
print "=" * 80
print "read [%d] msg" % count
print "chnanel_name -> %s" % channelname
print "msgtime -> %d" % timestamp
print "msgnum -> %d" % freader.get_messagenumber(channelname)
print "msgtype -> %s" % datatype
# print "pbdesc -> %s" % freader.get_protodesc(channelname)
count = count + 1
print "msg is -> %s" % msg
print "***after parse(if need),the msg is ->"
if datatype == MSG_TYPE:
msg_new = SimpleMessage()
msg_new.ParseFromString(msg)
print msg_new
if datatype == MSG_TYPE_CHATTER:
msg_new = Chatter()
msg_new.ParseFromString(msg)
print msg_new
def test_writer(self):
"""
unit test of writer.
"""
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
self.assertTrue(cyber.ok())
test_node = cyber.Node("node_name1")
writer = test_node.create_writer("channel/chatter", SimpleMessage, 7)
self.assertEqual(writer.name, "channel/chatter")
self.assertEqual(writer.data_type, "apollo.common.util.test.SimpleMessage")
self.assertTrue(writer.write(msg))
def test_record_writer(writer_path):
"""
Record writer.
"""
fwriter = record.RecordWriter()
fwriter.set_size_fileseg(0)
fwriter.set_intervaltime_fileseg(0)
if not fwriter.open(writer_path):
print('Failed to open record writer!')
return
print('+++ Begin to writer +++')
# Writer 2 SimpleMessage
msg = SimpleMessage()
msg.text = "AAAAAA"
file_desc = msg.DESCRIPTOR.file
proto = FileDescriptorProto()
file_desc.CopyToProto(proto)
proto.name = file_desc.name
desc_str = proto.SerializeToString()
print(msg.DESCRIPTOR.full_name)
fwriter.write_channel(
'simplemsg_channel', msg.DESCRIPTOR.full_name, desc_str)
fwriter.write_message('simplemsg_channel', msg, 990, False)
fwriter.write_message('simplemsg_channel', msg.SerializeToString(), 991)
# Writer 2 Chatter
msg = Chatter()
msg.timestamp = 99999
msg.lidar_timestamp = 100
msg.seq = 1
file_desc = msg.DESCRIPTOR.file
proto = FileDescriptorProto()
file_desc.CopyToProto(proto)
proto.name = file_desc.name
desc_str = proto.SerializeToString()
print(msg.DESCRIPTOR.full_name)
fwriter.write_channel('chatter_a', msg.DESCRIPTOR.full_name, desc_str)
fwriter.write_message('chatter_a', msg, 992, False)
msg.seq = 2
fwriter.write_message("chatter_a", msg.SerializeToString(), 993)
fwriter.close()
def test_talker_class():
"""
Test talker.
"""
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
test_node = cyber.Node("node_name1")
g_count = 1
writer = test_node.create_writer("channel/chatter", SimpleMessage, 6)
while not cyber.is_shutdown():
time.sleep(1)
g_count = g_count + 1
msg.integer = g_count
print "=" * 80
print "write msg -> %s" % msg
writer.write(msg)
def test_talker_class():
"""
test talker.
"""
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
test_node = cyber.Node("node_name1")
g_count = 1
writer = test_node.create_writer("channel/chatter",
SimpleMessage, 6)
while not cyber.is_shutdown():
time.sleep(1)
g_count = g_count + 1
msg.integer = g_count
print "="*80
print "write msg -> %s" % msg
writer.write(msg)
