def test_mock_lcm_induce_subscriber_callback_deprecated(self):
dut = DrakeMockLcm()
dut.Subscribe(channel="TEST_CHANNEL", handler=self._handler)
with catch_drake_warnings(expected_count=1):
dut.InduceSubscriberCallback(channel="TEST_CHANNEL",
buffer=self.quat.encode())
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.InduceSubscriberCallback(channel="TEST_CHANNEL",
buffer=model_message.encode())
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 = self._model_message()
lcm.InduceSubscriberCallback(
channel="TEST_CHANNEL", buffer=model.encode())
context = dut.CreateDefaultContext()
output = dut.AllocateOutput()
dut.CalcOutput(context, output)
actual = output.get_data(0).get_value()
self.assert_lcm_equal(actual, model)
def test_mock_lcm_induce_subscriber_callback(self):
dut = DrakeMockLcm()
dut.Subscribe(channel="TEST_CHANNEL", handler=self._handler)
dut.InduceSubscriberCallback(channel="TEST_CHANNEL",
buffer=self.quat.encode())
self.assertEqual(self.count, 1)
