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)