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import sys
import time
import array
import random
import select
import unittest
import lcm
import lcmtest
import lcmtest2
def _lcm_handle_timeout(lc, ms):
try:
rfds, wfds, efds = select.select([lc.fileno()], [], [], ms * 1e-3)
if rfds:
lc.handle()
return True
return False
except KeyboardInterrupt:
return False
def info(txt):
sys.stderr.write("py_client: %s\n" % txt)
def check_field(actual, expected, field):
if actual != expected:
raise ValueError("reply.%s : Expected %s, got %s" % (field, actual, expected))
class AnotherTypeTest(object):
def get_message_type(self):
return lcmtest2.another_type_t
def get_message_package(self):
return "lcmtest2"
def get_num_iters(self):
return 100
def make_message(self, iteration):
msg = lcmtest2.another_type_t()
msg.val = iteration
return msg
def check_reply(self, reply, iteration):
check_field(reply.val, iteration, "val")
class CrossPackageTest(object):
def get_message_type(self):
return lcmtest2.cross_package_t
def get_message_package(self):
return "lcmtest2"
def get_num_iters(self):
return 100
def make_message(self, iteration):
msg = lcmtest2.cross_package_t()
msg.primitives = PrimitivesTest().make_message(iteration)
msg.another = AnotherTypeTest().make_message(iteration)
return msg
def check_reply(self, reply, iteration):
PrimitivesTest().check_reply(reply.primitives, iteration)
AnotherTypeTest().check_reply(reply.another, iteration)
class MultidimArrayTest(object):
def get_message_type(self):
return lcmtest.multidim_array_t
def get_message_package(self):
return "lcmtest"
def get_num_iters(self):
return 5
def make_message(self, iteration):
msg = lcmtest.multidim_array_t()
msg.size_a = iteration
msg.size_b = iteration
msg.size_c = iteration
msg.data = []
n = 0
for i in range(msg.size_a):
item_a = []
msg.data.append(item_a)
for j in range(msg.size_b):
item_b = []
item_a.append(item_b)
for k in range(msg.size_c):
item_b.append(n)
n += 1
n = 0
msg.strarray = []
for i in range(2):
item_a = []
msg.strarray.append(item_a)
for k in range(msg.size_c):
item_a.append("%d" % n)
n += 1
return msg
def check_reply(self, reply, iteration):
check_field(reply.size_a, iteration, "size_a")
check_field(reply.size_b, iteration, "size_b")
check_field(reply.size_c, iteration, "size_c")
n = 0
for i in range(reply.size_a):
for j in range(reply.size_b):
for k in range(reply.size_c):
check_field(reply.data[i][j][k], n, "data[%d][%d][%d]" % (i, j, k))
n += 1
n = 0
for i in range(2):
for k in range(reply.size_c):
check_field(reply.strarray[i][k], "%d" % n, "strarray[%d][%d]" % (i, k))
n += 1
class NodeTest(object):
def get_message_type(self):
return lcmtest.node_t
def get_message_package(self):
return "lcmtest"
def get_num_iters(self):
return 7
def make_message(self, iteration):
msg = lcmtest.node_t()
msg.num_children = iteration
if not msg.num_children:
return msg
msg.children = [ self.make_message(iteration - 1) for i in range(msg.num_children) ]
return msg
def check_reply(self, reply, iteration):
check_field(reply.num_children, iteration, "num_children")
for child in reply.children:
self.check_reply(child, iteration - 1)
class PrimitivesListTest(object):
def get_message_type(self):
return lcmtest.primitives_list_t
def get_message_package(self):
return "lcmtest"
def get_num_iters(self):
return 100
def make_message(self, iteration):
msg = lcmtest.primitives_list_t()
msg.num_items = iteration
msg.items = [ lcmtest.primitives_t() for i in range(msg.num_items) ]
for n in range(msg.num_items):
ex = msg.items[n]
ex.i8 = -(n % 100)
ex.i16 = -n * 10
ex.i64 = -n * 10000
ex.position[0] = -n
ex.position[1] = -n
ex.position[2] = -n
ex.orientation[0] = -n
ex.orientation[1] = -n
ex.orientation[2] = -n
ex.orientation[3] = -n
ex.num_ranges = n
ex.ranges = [ -i for i in range(n) ]
ex.name = "%d" % -n
ex.enabled = bool((n+1) % 2)
return msg
def check_reply(self, reply, iteration):
check_field(reply.num_items, iteration, "num_items")
for n in range(iteration):
ex = reply.items[n]
pa = ".items[%d]." % n
check_field(ex.i8, -(n % 100), pa + "i8")
check_field(ex.i16, -n * 10, pa + "i16")
check_field(ex.i64, -n * 10000, pa + "i64")
check_field(ex.position[0], float(-n), pa + "position[0]")
check_field(ex.position[1], float(-n), pa + "position[1]")
check_field(ex.position[2], float(-n), pa + "position[2]")
check_field(ex.orientation[0], float(-n), pa + "orientation[0]")
check_field(ex.orientation[1], float(-n), pa + "orientation[1]")
check_field(ex.orientation[2], float(-n), pa + "orientation[2]")
check_field(ex.orientation[3], float(-n), pa + "orientation[3]")
check_field(ex.num_ranges, n, pa + "num_ranges")
for i in range(n):
check_field(ex.ranges[i], -i, pa + "ranges[%d]" % i)
check_field(ex.name, "%d" % -n, pa + "name")
check_field(ex.enabled, bool((n+1)%2), pa + "enabled")
class PrimitivesTest(object):
def get_message_type(self):
return lcmtest.primitives_t
def get_message_package(self):
return "lcmtest"
def get_num_iters(self):
return 1000
def make_message(self, iteration):
n = iteration
msg = lcmtest.primitives_t()
msg.i8 = n % 100
msg.i16 = n * 10
msg.i64 = n * 10000
msg.position[0] = n
msg.position[1] = n
msg.position[2] = n
msg.orientation[0] = n
msg.orientation[1] = n
msg.orientation[2] = n
msg.orientation[3] = n
msg.num_ranges = n
msg.ranges = [ i for i in range(msg.num_ranges) ]
msg.name = "%d" % n
msg.enabled = n % 2
return msg
def check_reply(self, reply, iteration):
n = iteration
check_field(reply.i8, n % 100, "i8")
check_field(reply.i16, n * 10, "i16");
check_field(reply.i64, n * 10000, "i64");
check_field(reply.position[0], float(n), "position[0]");
check_field(reply.position[1], float(n), "position[1]");
check_field(reply.position[2], float(n), "position[2]");
check_field(reply.orientation[0], float(n), "orientation[0]");
check_field(reply.orientation[1], float(n), "orientation[1]");
check_field(reply.orientation[2], float(n), "orientation[2]");
check_field(reply.orientation[3], float(n), "orientation[3]");
check_field(reply.num_ranges, n, "num_ranges");
for i in range(n):
check_field(reply.ranges[i], i, "ranges[%d]" % i)
check_field(reply.name, "%d" % n, "name")
check_field(reply.enabled, bool(n % 2), "enabled")
class StandardTester(object):
def __init__(self, lc, test):
self.lc = lc
self.test = test
self.failed = False
self.msg_type = test.get_message_type()
self.msg_name = self.msg_type.__name__
def handler(self, channel, data):
try:
self.test.check_reply(self.msg_type.decode(data), self.iteration + 1)
self.response_count += 1
except ValueError as xcp:
self.failed = True
info(str(xcp))
def run(self):
self.response_count = 0
pkg_name = self.test.get_message_package()
pub_channel = "test_%s_%s" % (pkg_name, self.msg_name)
subs = self.lc.subscribe("test_%s_%s_reply" % (pkg_name, self.msg_name), self.handler)
for iteration in range(self.test.get_num_iters()):
self.iteration = iteration
msg = self.test.make_message(iteration)
self.lc.publish(pub_channel, msg.encode())
if not _lcm_handle_timeout(self.lc, 500):
info("%-20s : Timeout waiting for reply (iteration %d)" % (self.msg_name, iteration));
return False
elif self.failed:
info("%-20s : Error on iteration %d" % (self.msg_name, iteration))
return False
self.lc.unsubscribe(subs)
# info("%-31s : PASSED" % (pkg_name + "_" + self.msg_name))
return True
class EchoTester(object):
def __init__(self, lc):
self.lc = lc
self.data = None
self.response_count = 0
self.subs = self.lc.subscribe("TEST_ECHO_REPLY", self.handler)
self.num_iters = 100
def handler(self, channel, data):
if data != self.data:
return
self.response_count += 1
def run(self):
for i in range(self.num_iters):
datalen = random.randint(10, 10000)
nums = [ random.randint(-128, 127) for j in range(datalen) ]
self.data = array.array('b', nums).tostring()
self.lc.publish("TEST_ECHO", self.data)
if not _lcm_handle_timeout(self.lc, 500) or self.response_count != i + 1:
print("echo test failed to receive a response on iteration %d" % i)
raise RuntimeError()
# info("%-31s : PASSED" % "echo test")
self.lc.unsubscribe(self.subs)
class ClientTest(unittest.TestCase):
def setUp(self):
random.seed()
self.lc = lcm.LCM()
def test_1_echo(self):
EchoTester(self.lc).run()
def test_2_primitives_t(self):
StandardTester(self.lc, PrimitivesTest()).run()
def test_3_primitives_list_t(self):
StandardTester(self.lc, PrimitivesListTest()).run()
def test_4_node_t(self):
StandardTester(self.lc, NodeTest()).run()
def test_5_multidim_array_t(self):
StandardTester(self.lc, MultidimArrayTest()).run()
def test_6_cross_package(self):
StandardTester(self.lc, CrossPackageTest()).run()
if __name__ == '__main__':
unittest.main()
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