def test_mock_lcm_roundtrip(self):
dut = DrakeMockLcm()
self.assertIsInstance(dut, DrakeLcmInterface)
dut.Subscribe(channel="TEST_CHANNEL", handler=self._handler)
dut.Publish(channel="TEST_CHANNEL", buffer=self.quat.encode())
self.assertEqual(self.count, 0)
dut.HandleSubscriptions(0)
self.assertEqual(self.count, 1)
def test_subscriber(self):
lcm = DrakeMockLcm()
dut = mut.LcmSubscriberSystem.Make(channel="TEST_CHANNEL",
lcm_type=quaternion_t,
lcm=lcm)
model_message = self._model_message()
lcm.Publish(channel="TEST_CHANNEL", buffer=model_message.encode())
lcm.HandleSubscriptions(0)
actual_message = self._calc_output(dut).get_value()
self.assert_lcm_equal(actual_message, model_message)
def test_subscriber(self):
lcm = DrakeMockLcm()
dut = mut.LcmSubscriberSystem.Make(
channel="TEST_CHANNEL", lcm_type=quaternion_t, lcm=lcm)
model_message = self._model_message()
lcm.Publish(channel="TEST_CHANNEL", buffer=model_message.encode())
lcm.HandleSubscriptions(0)
context = self._process_event(dut)
actual_message = dut.get_output_port(0).Eval(context)
self.assert_lcm_equal(actual_message, model_message)
def test_subscriber(self):
mock = DrakeMockLcm()
dut = Subscriber(lcm=mock, channel="CHANNEL", lcm_type=quaternion_t)
mock.Publish(channel="CHANNEL", buffer=self.quat.encode())
self.assertEqual(dut.count, 0)
self.assertEqual(len(dut.raw), 0)
self.assertEqual(dut.message.w, 0)
self.assertEqual(dut.message.x, 0)
self.assertEqual(dut.message.y, 0)
self.assertEqual(dut.message.z, 0)
mock.HandleSubscriptions(0)
self.assertEqual(dut.count, 1)
self.assertEqual(dut.raw, self.quat.encode())
self.assertEqual(dut.message.w, self.quat.w)
self.assertEqual(dut.message.x, self.quat.x)
self.assertEqual(dut.message.y, self.quat.y)
self.assertEqual(dut.message.z, self.quat.z)
def test_mock_lcm_get_last_published_message_deprecated(self):
dut = DrakeMockLcm()
dut.Publish(channel="TEST_CHANNEL", buffer=self.quat.encode())
with catch_drake_warnings(expected_count=1):
raw = dut.get_last_published_message("TEST_CHANNEL")
self.assertEqual(raw, self.quat.encode())
def test_mock_lcm_get_last_published_message(self):
dut = DrakeMockLcm()
dut.Publish(channel="TEST_CHANNEL", buffer=self.quat.encode())
raw = dut.get_last_published_message("TEST_CHANNEL")
self.assertEqual(raw, self.quat.encode())
