def test_publisher(self):
lcm = DrakeLcm()
dut = mut.LcmPublisherSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm,
publish_period=0.1)
subscriber = Subscriber(lcm, "TEST_CHANNEL", lcmt_quaternion)
model_message = self._model_message()
self._fix_and_publish(dut, AbstractValue.Make(model_message))
lcm.HandleSubscriptions(0)
self.assert_lcm_equal(subscriber.message, model_message)
# Test `publish_triggers` overload.
mut.LcmPublisherSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm,
publish_period=0.1,
publish_triggers={TriggerType.kPeriodic})
# Test LcmInterfaceSystem overloads
lcm_system = mut.LcmInterfaceSystem(lcm=lcm)
dut = mut.LcmPublisherSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm_system,
publish_period=0.1)
self._fix_and_publish(dut, AbstractValue.Make(model_message))
lcm.HandleSubscriptions(0)
self.assert_lcm_equal(subscriber.message, model_message)
# Test `publish_triggers` overload.
mut.LcmPublisherSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm_system,
publish_period=0.1,
publish_triggers={TriggerType.kPeriodic})
def test_lcm_interface_system_diagram(self):
# First, check the class doc.
self.assertIn("only inherits from LeafSystem",
mut.LcmInterfaceSystem.__doc__)
# Next, construct a diagram and add both the interface system and
# a subscriber.
builder = DiagramBuilder()
lcm = DrakeLcm()
lcm_system = builder.AddSystem(mut.LcmInterfaceSystem(lcm=lcm))
# Create subscriber in the diagram.
subscriber = builder.AddSystem(
mut.LcmSubscriberSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm))
diagram = builder.Build()
simulator = Simulator(diagram)
simulator.Initialize()
# Publish test message.
model_message = self._model_message()
lcm.Publish("TEST_CHANNEL", model_message.encode())
# Simulate to a non-zero time to ensure the subscriber picks up the
# message.
eps = np.finfo(float).eps
simulator.AdvanceTo(eps)
# Ensure that we have what we want.
context = subscriber.GetMyContextFromRoot(
simulator.get_mutable_context())
actual_message = subscriber.get_output_port(0).Eval(context)
self.assert_lcm_equal(actual_message, model_message)
def test_subscriber(self):
lcm = DrakeLcm()
dut = mut.LcmSubscriberSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
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)
# Test LcmInterfaceSystem overloads
lcm_system = mut.LcmInterfaceSystem(lcm=lcm)
dut = mut.LcmSubscriberSystem.Make(channel="TEST_CHANNEL",
lcm_type=lcmt_quaternion,
lcm=lcm_system)
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)
