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#!/usr/bin/python
import os
import random
import tempfile
import unittest
import lcm
import client
class TestLcmFile(unittest.TestCase):
def setUp(self):
# tempfile.mktemp() is deprecated, so make our own random filename :-/
self.log_filename = os.path.join(tempfile.gettempdir(),
"lcm_unit_test_log_{}.lcmlog".format(random.random()))
self.tester = client.PrimitivesTest()
self.msg_type = self.tester.get_message_type()
self.num_iterations = 100
self.test_channel = "CHAN"
def tearDown(self):
os.remove(self.log_filename)
def test_read_or_write_only(self):
lcm_obj = lcm.LCM("file://%s?mode=w" % self.log_filename)
def handler(channel, data):
msg = self.msg_type.decode(data)
try:
self.tester.check_reply(msg, handler.iteration)
except ValueError as xcp:
self.fail(str(xcp))
for iteration in range(self.num_iterations):
msg = self.tester.make_message(iteration)
lcm_obj.publish(self.test_channel, msg.encode())
# print("opening read mode")
lcm_obj = lcm.LCM("file://%s?mode=r" % self.log_filename)
subs = lcm_obj.subscribe(self.test_channel, handler)
for iteration in range(self.num_iterations):
handler.iteration = iteration
msg = self.tester.make_message(iteration)
lcm_obj.handle()
with self.assertRaises(IOError):
lcm_obj.handle()
with self.assertRaises(IOError):
lcm_obj.publish(self.test_channel, msg.encode())
lcm_obj.unsubscribe(subs)
def main():
unittest.main()
if __name__ == '__main__':
main()
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