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#!/usr/bin/python
import threading
import time
import unittest
import lcm
class TestLcmThreads(unittest.TestCase):
def test_handle_and_publish(self):
"""Worker thread calls LCM.handle(), while main thread calls
LCM.publish()
"""
lcm_obj = lcm.LCM("memq://")
def on_msg(channel, data):
on_msg.msg_handled = True
on_msg.msg_handled = False
lcm_obj.subscribe("channel", on_msg)
def thread_func():
lcm_obj.handle()
worker = threading.Thread(target=thread_func)
worker.start()
time.sleep(0.1)
lcm_obj.publish("channel", "")
worker.join()
self.assertTrue(on_msg.msg_handled)
def test_two_handle_timeout(self):
"""Check that calling LCM.handle_timeout() from two threads at once is
not allowed.
"""
lcm_obj = lcm.LCM("memq://")
def thread_func():
lcm_obj.handle_timeout(5000)
lcm_obj.subscribe("channel", lambda *x: None)
worker = threading.Thread(target=thread_func)
worker.start()
time.sleep(0.1)
with self.assertRaises(RuntimeError):
lcm_obj.handle_timeout(1000)
lcm_obj.publish("channel", "")
worker.join()
def test_two_handle(self):
"""Check that calling LCM.handle() from two threads at once is not
allowed.
"""
lcm_obj = lcm.LCM("memq://")
def thread_func():
lcm_obj.handle()
lcm_obj.subscribe("channel", lambda *x: None)
worker = threading.Thread(target=thread_func)
worker.start()
time.sleep(0.1)
with self.assertRaises(RuntimeError):
lcm_obj.handle()
lcm_obj.publish("channel", "")
worker.join()
def main():
unittest.main()
if __name__ == '__main__':
main()
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