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import RobotRaconteur as RR
import pytest
import time
import threading
_pipe_sub_test_service_def = """
service experimental.pipe_sub_test
object testobj
pipe double testpipe1 [readonly]
pipe double testpipe2
objref testobj2 subobj
end
object testobj2
pipe double testpipe3 [readonly]
end
"""
class _testobj_impl:
def __init__(self):
self.subobj = _testobj2_impl()
self.recv_packets = []
def get_subobj(self):
return self.subobj, "experimental.pipe_sub_test.testobj2"
def RRServiceObjectInit(self, ctx, service_path):
self.testpipe2.PipeConnectCallback = self._pipe_ep_connected
def _pipe_ep_connected(self, pipe_ep):
pipe_ep.PacketReceivedEvent += self._pipe_packet_received
def _pipe_packet_received(self, pipe_ep):
while pipe_ep.Available > 0:
self.recv_packets.append(pipe_ep.ReceivePacket())
class _testobj2_impl:
def __init__(self):
pass
intra_server_flags = RR.RobotRaconteurNodeSetupFlags_ENABLE_INTRA_TRANSPORT \
| RR.RobotRaconteurNodeSetupFlags_INTRA_TRANSPORT_START_SERVER \
| RR.RobotRaconteurNodeSetupFlags_ENABLE_NODE_ANNOUNCE \
| RR.RobotRaconteurNodeSetupFlags_ENABLE_NODE_DISCOVERY_LISTENING \
| RR.RobotRaconteurNodeSetupFlags_DISABLE_STRINGTABLE
intra_client_flags = RR.RobotRaconteurNodeSetupFlags_ENABLE_INTRA_TRANSPORT \
| RR.RobotRaconteurNodeSetupFlags_ENABLE_NODE_DISCOVERY_LISTENING \
| RR.RobotRaconteurNodeSetupFlags_DISABLE_STRINGTABLE
class _testservice_impl():
def __init__(self, nodename, nodeid):
self.obj = _testobj_impl()
self._node = RR.RobotRaconteurNode()
self._node.SetNodeID(nodeid)
self._node.Init()
self._node.RegisterServiceType(_pipe_sub_test_service_def)
self._node.RegisterService(
"test_service", "experimental.pipe_sub_test.testobj", self.obj)
self._node_setup = RR.RobotRaconteurNodeSetup(
nodename, 0, flags=intra_server_flags, node=self._node)
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self._node_setup.ReleaseNode()
self._node.Shutdown()
self._node_setup = None
self._node = None
def test_pipe_subscription():
test_servers = {
"server1": RR.NodeID("0d694574-1ad8-4b9e-9aea-e881524fb451"),
"server2": RR.NodeID("e23ac123-4357-467e-b44b-4c9eb4ff7916"),
"server3": RR.NodeID("cb71939a-6c6c-43cc-b6be-070a76acec74")
}
client_node = RR.RobotRaconteurNode()
client_node.Init()
client_node_setup = RR.RobotRaconteurNodeSetup(
"", 0, flags=intra_client_flags, node=client_node)
server1 = _testservice_impl("server1", test_servers["server1"])
with client_node_setup, server1:
packet_recv_count = [0]
def packet_recv(ep):
packet_recv_count[0] += 1
sub = client_node.SubscribeServiceByType(
"experimental.pipe_sub_test.testobj")
pipe_sub = sub.SubscribePipe("testpipe1")
pipe_sub.PipePacketReceived += packet_recv
sub.GetDefaultClientWait(5)
for _ in range(10):
if pipe_sub.ActivePipeEndpointCount > 0:
break
time.sleep(0.01)
else:
assert False
with pytest.raises(RR.InvalidOperationException):
pipe_sub.ReceivePacket()
assert not pipe_sub.TryReceivePacket()[0]
server1.obj.testpipe1.SendPacket(1.0)
server1.obj.testpipe1.SendPacket(2.0)
time.sleep(0.05)
res, packet = pipe_sub.TryReceivePacket()
assert res and packet == 1.0
assert pipe_sub.ReceivePacket() == 2.0
def delay_send():
time.sleep(0.15)
server1.obj.testpipe1.SendPacket(3.0)
server1.obj.testpipe1.SendPacket(4.0)
t = threading.Thread(target=delay_send)
t.start()
res, val = pipe_sub.TryReceivePacketWait(1)
assert res and val == 3.0
pipe_sub.TryReceivePacketWait(1, True)
assert pipe_sub.Available == 1
res, val = pipe_sub.TryReceivePacketWait(1, True)
assert res and val == 4.0
assert pipe_sub.Available == 1
res, val = pipe_sub.TryReceivePacketWait(1)
assert res and val == 4.0
pipe_sub2 = sub.SubscribePipe("testpipe2")
time.sleep(0.1)
assert pipe_sub2.ActivePipeEndpointCount > 0
pipe_sub2.AsyncSendPacketAll(5.0)
pipe_sub2.AsyncSendPacketAll(6.0)
time.sleep(0.05)
assert len(server1.obj.recv_packets) == 2
pipe_sub3 = sub.SubscribePipe("testpipe3", "*.subobj")
time.sleep(0.1)
assert pipe_sub3.ActivePipeEndpointCount > 0
server1.obj.subobj.testpipe3.SendPacket(7.0)
server1.obj.subobj.testpipe3.SendPacket(8.0)
res, value = pipe_sub3.TryReceivePacketWait(1)
assert res and value == 7.0
res, value = pipe_sub3.TryReceivePacketWait(1)
assert res and value == 8.0
|
