class Topicmanger:
def __init__(self, args, dp, qos, waitset):
self.topic_name = args.topic
self.seq = -1
try:
int_topic = Topic(dp, self.topic_name + "int", Integer, qos=qos)
str_topic = Topic(dp, self.topic_name, String, qos=qos)
self.int_writer = DataWriter(dp, int_topic, qos=qos)
self.int_reader = DataReader(dp, int_topic, qos=qos)
self.str_writer = DataWriter(dp, str_topic, qos=qos)
self.str_reader = DataReader(dp, str_topic, qos=qos)
except DDSException:
raise SystemExit("Error: The arguments inputted are considered invalid for cyclonedds.")
self.read_cond = ReadCondition(self.int_reader, ViewState.Any | InstanceState.Alive | SampleState.NotRead)
waitset.attach(self.read_cond)
def write(self, input):
self.seq += 1
if type(input) is int:
msg = Integer(self.seq, input)
self.int_writer.write(msg)
else:
msg = String(self.seq, input)
self.str_writer.write(msg)
def read(self):
for sample in self.int_reader.take(N=100):
print("Subscribed:", sample)
for sample in self.str_reader.take(N=100):
print("Subscribed:", sample)
def test_reader_invalid():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
with pytest.raises(TypeError):
dr.read(-1)
with pytest.raises(TypeError):
dr.take(-1)
def test_reader_take():
dp = DomainParticipant(0)
tp = Topic(dp, "Message__DONOTPUBLISH", Message)
sub = Subscriber(dp)
dr = DataReader(sub, tp)
assert len(dr.take()) == 0
