def createReader(self, topic, listener):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if self._qosProfile:
return self._subscriber.create_datareader(
topic, self._qosProfile.get_reader_qos(), listener)
else:
reader_qos = dds.Qos([
dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DeadlineQosPolicy(dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(dds.DDSReliabilityKind.RELIABLE,
dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(10, 10, 10),
dds.OwnershipQosPolicy(dds.DDSOwnershipKind.EXCLUSIVE),
dds.TimeBasedFilterQosPolicy(dds.DDSDuration(2, 500)),
dds.ReaderDataLifecycleQosPolicy(dds.DDSDuration(3),
dds.DDSDuration(5))
])
return self._subscriber.create_datareader(topic, reader_qos,
listener)
def createWriter(self, topic):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if self._qosProfile:
return self._publisher.create_datawriter(
topic, self._qosProfile.get_writer_qos())
else:
writer_qos = dds.Qos([
dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DeadlineQosPolicy(dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(dds.DDSReliabilityKind.RELIABLE,
dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(10, 10, 10),
dds.TransportPriorityQosPolicy(700),
dds.LifespanQosPolicy(dds.DDSDuration(10, 500)),
dds.OwnershipQosPolicy(dds.DDSOwnershipKind.EXCLUSIVE),
dds.OwnershipStrengthQosPolicy(100),
dds.WriterDataLifecycleQosPolicy(False)
])
return self._publisher.create_datawriter(topic, writer_qos)
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()
def createTopic(self, datatype, topicname):
global mutex
guard = OpenRTM_aist.ScopedLock(mutex)
if topicname in self._topic:
return self._topic[topicname]
else:
geninfo = self.genInfo(datatype)
if geninfo:
if self._qosProfile:
self._topic[topicname] = geninfo.register_topic(
self._domainParticipant, topicname, self._qosProfile.get_topic_qos())
else:
topic_qos = dds.Qos([dds.DurabilityQosPolicy(dds.DDSDurabilityKind.TRANSIENT),
dds.DurabilityServiceQosPolicy(dds.DDSDuration(
2, 500), dds.DDSHistoryKind.KEEP_ALL, 2, 100, 100, 100),
dds.DeadlineQosPolicy(
dds.DDSDuration(500)),
dds.LatencyBudgetQosPolicy(
dds.DDSDuration(3000)),
dds.LivelinessQosPolicy(
dds.DDSLivelinessKind.MANUAL_BY_PARTICIPANT),
dds.ReliabilityQosPolicy(
dds.DDSReliabilityKind.RELIABLE, dds.DDSDuration.infinity()),
dds.DestinationOrderQosPolicy(
dds.DDSDestinationOrderKind.BY_SOURCE_TIMESTAMP),
dds.HistoryQosPolicy(
dds.DDSHistoryKind.KEEP_ALL),
dds.ResourceLimitsQosPolicy(
10, 10, 10),
dds.TransportPriorityQosPolicy(700),
dds.LifespanQosPolicy(
dds.DDSDuration(10, 500)),
dds.OwnershipQosPolicy(
dds.DDSOwnershipKind.EXCLUSIVE)
])
self._topic[topicname] = geninfo.register_topic(
self._domainParticipant, topicname, topic_qos)
return self._topic[topicname]
return None
