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import RobotRaconteur as RR
import pytest
import time
import threading
_wire_sub_test_service_def = """
service experimental.wire_sub_test
object testobj
wire double testwire1 [readonly]
wire double testwire2 [writeonly]
objref testobj2 subobj
end
object testobj2
wire double testwire3 [readonly]
end
"""
class _testobj_impl:
def __init__(self):
self.subobj = _testobj2_impl()
def get_subobj(self):
return self.subobj, "experimental.wire_sub_test.testobj2"
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(_wire_sub_test_service_def)
self._node.RegisterService(
"test_service", "experimental.wire_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_wire_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:
value_changed_count = [0]
def value_changed(wire, value, time):
value_changed_count[0] += 1
sub = client_node.SubscribeServiceByType(
"experimental.wire_sub_test.testobj")
wire_sub = sub.SubscribeWire("testwire1")
wire_sub.WireValueChanged += value_changed
sub.GetDefaultClientWait(5)
for _ in range(10):
if wire_sub.ActiveWireConnectionCount > 0:
break
time.sleep(0.01)
else:
assert False
with pytest.raises(RR.ValueNotSetException):
_ = wire_sub.InValue
assert not wire_sub.TryGetInValue()[0]
server1.obj.testwire1.OutValue = 5.0
time.sleep(0.001)
server1.obj.testwire1.OutValue = 5.0
wire_sub.WaitInValueValid(1)
assert wire_sub.InValue == 5.0
assert wire_sub.TryGetInValue()[1] == 5.0
for _ in range(10):
if value_changed_count[0] > 0:
break
time.sleep(0.01)
else:
assert False
wire_sub.InValueLifespan = 0.1
assert wire_sub.InValueLifespan == 0.1
time.sleep(0.2)
assert not wire_sub.TryGetInValue()[0]
wire_sub.InValueLifespan = 10
server1.obj.testwire1.OutValue = 6.0
time.sleep(0.05)
assert wire_sub.InValue == 6.0
wire_sub2 = sub.SubscribeWire("testwire3", "*.subobj")
time.sleep(0.05)
assert wire_sub2.ActiveWireConnectionCount > 0
time.sleep(0.2)
server1.obj.subobj.testwire3.OutValue = 12.345
wire_sub2.WaitInValueValid(1)
assert wire_sub2.InValue == 12.345
wire_sub2.Close()
wire_sub3 = sub.SubscribeWire("testwire2")
time.sleep(0.05)
assert wire_sub3.ActiveWireConnectionCount > 0
wire_sub3.SetOutValueAll(17.0)
time.sleep(0.05)
assert server1.obj.testwire2.InValue[0] == 17.0
res, val, _, _ = server1.obj.testwire2.TryGetInValue()
assert res and val == 17.0
server1.obj.testwire2.InValueLifespan = 0.1
time.sleep(0.2)
assert not server1.obj.testwire2.TryGetInValue()[0]
|
