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Merged
samuelraeburn merged 6 commits into from
Jun 3, 2020
Merged

Feature/con 188 #18

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e2bc8f3
CON-188: Added docs + tests
samuelraeburn May 22, 2020
30eae97
CON-188: Revert changes to package.json
samuelraeburn May 22, 2020
0891c10
CON-188: Change of functionality
samuelraeburn May 25, 2020
63e7072
CON-188: Remove debug
samuelraeburn May 25, 2020
8db8abb
CON-188: PR feedback
samuelraeburn May 27, 2020
a6f7145
CON-188: PR Feedback
samuelraeburn May 29, 2020
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51 changes: 51 additions & 0 deletions docs/data.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -452,3 +452,54 @@ In an :class:`Input`, you can obtain the selected member as a string::
if (input.samples.get(0).getString('my_union#') == 'point') {
value = input.samples.get(0).getNumber('my_union.point.x')
}

Accessing key values of disposed samples
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Using :meth:`Output.write`, an :class:`Output` can write data, or dispose or
unregister an instance.
Depending on which of these operations is performed, the ``instance_state`` of the
received sample will be ``'ALIVE'``, ``'NOT_ALIVE_NO_WRITERS'`` or ``'NOT_ALIVE_DISPOSED'``.
If the instance was disposed, this ``instance_state`` will be ``'NOT_ALIVE_DISPOSED'``.
In this state, it is possible to access the key fields of the instance that was disposed.

.. note::
:attr:`SampleInfo.valid_data` will be false when the :attr:`SampleInfo.instance_state`
is ``'NOT_ALIVE_DISPOSED'``. In this situation it's possible to access the
key fields in the received sample.

The key fields can be accessed as follows:

.. code-block::

// The output and input are using the following type:
// struct ShapeType {
// @key string<128> color;
// long x;
// long y;
// long shapesize;
// }

output.instance.set('x', 4)
output.instance.set('color', 'Green')
// Assume that some data associated with this instance has already been sent
output.write({ action: 'dispose' })
await input.wait()
input.take()
let sample = input.samples.get(0)

if (sample.info.get('instance_state') === 'NOT_ALIVE_DISPOSED') {
// sample.info.get('valid_data') will be false in this situation
// Only the key-fields should be accessed
let color = sample.get('color') // 'Green'
// The fields 'x','y' and 'shapesize' cannot be retrieved because they're
// not part of the key
// You can also call getJson() to get all of the key fields in a JSON object.
// Again, only the key fields returned within the JSON object should
// be used.
let keyValues = sample.getJson() // { color: 'Green', x: 0, y: 0, shapesize: 0 }
}

.. warning::
When the sample has an instance state of ``'NOT_ALIVE_DISPOSED'`` only the
key fields should be accessed.
27 changes: 18 additions & 9 deletions docs/input.rst
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Expand Up @@ -121,7 +121,7 @@ After calling :meth:`Input.read()` or :meth:`Input.take()`,

:meth:`SampleIterator.getJson()` retrieves all the fields of a sample.

If you don't need to access the meta-data (see :ref:`Accessing the SampleInfo`),
If you don't need to access the meta-data (see :ref:`Accessing sample meta-data`),
the simplest way to access the data is to use :attr:`Samples.validDataIter`
to skip samples with invalid data:

Expand Down Expand Up @@ -177,15 +177,11 @@ for example:

See more information and examples in :ref:`Accessing the data`.

Accessing the SampleInfo
~~~~~~~~~~~~~~~~~~~~~~~~

*Connext DDS* can produce samples with invalid data, which contain meta-data only.
For more information about this, see `Valid Data Flag
<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/The_SampleInfo_Structure.htm#receiving_2076951295_727613>`__
in the *RTI Connext DDS Core Libraries User's Manual*.
Accessing sample meta-data
~~~~~~~~~~~~~~~~~~~~~~~~~~

You can access a field of the sample meta-data, the *SampleInfo*, as follows:
Every sample contains an associated *SampleInfo* with meta-information about the
sample:

.. code-block::

Expand All @@ -195,6 +191,19 @@ You can access a field of the sample meta-data, the *SampleInfo*, as follows:

See :attr:`SampleIterator.info` for the list of available meta-data fields.

*Connext DDS* can produce samples with invalid data, which contain meta-data only.
For more information about this, see `Valid Data Flag
<https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/index.htm#UsersManual/The_SampleInfo_Structure.htm#receiving_2076951295_727613>`__
in the *RTI Connext DDS Core Libraries User's Manual*.
These samples indicate a change in the instance state. Samples with invalid data
still provide the following information:

* The :class:`SampleInfo`
* When an instance is disposed (``sample.info.get('instance_state')`` is
``'NOT_ALIVE_DISPOSED'``), the sample data contains the value of the key that
has been disposed. You can access the key fields only. See
:ref:`Accessing key values of disposed samples`.

Matching with a Publication
~~~~~~~~~~~~~~~~~~~~~~~~~~~

Expand Down
34 changes: 17 additions & 17 deletions test/nodejs/test_rticonnextdds_data_access.js
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Expand Up @@ -70,7 +70,7 @@ describe('Data access tests with a pre-populated input', function () {
} catch (err) {
console.log('Caught err: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
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@alexcamposruiz alexcamposruiz May 27, 2020

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why is the error captured and rethrown only to log a message? Just let it fail without a try/catch

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@samuelraeburn samuelraeburn May 27, 2020

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You can't do that, the test will not fail, the test will pass but mocha will detect UnhandledPromiseRejection thrown.
This message would be printed to stdout:

(node:29903) UnhandledPromiseRejectionWarning: Unhandled promise rejection (rejection id: 3): AssertionError: assert.fail()
(node:29903) DeprecationWarning: Unhandled promise rejections are deprecated. In the future, promise rejections that are not handled will terminate the Node.js process with a non-zero exit code.

So it sounds like in future versions of Node.js they will make it fail the process, but at the moment that is not the case.

The common solution online is to return the promise to mocha (which has promise handling, and can therefore detect the failure). But since our tests usually have multiple Promises within them (i.e., multiple await calls) I had thought that this wasn't an option. but it looks like I might have been wrong:
https://stackoverflow.com/questions/42493113/async-mocha-test-with-chai-assertion-library-should-fail-but-is-marked-as-pas
I'm not sure how that works, but it looks like you can do something like:

return await output.write()
return await input.wait()

If you like I can investigate this option

}
// Write data on the the output
output.instance.setFromJson(testJsonObject)
Expand All @@ -81,7 +81,7 @@ describe('Data access tests with a pre-populated input', function () {
} catch (err) {
console.log('Caught err: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
}
// Take the data on the input so that we can access it from the test
prepopulatedInput.take()
Expand Down Expand Up @@ -388,7 +388,7 @@ describe('Tests with a testOutput and testInput', () => {
expect(newMatches).to.deep.equals(1)
} catch (err) {
console.log('Caught err ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand Down Expand Up @@ -512,7 +512,7 @@ describe('Tests with a testOutput and testInput', () => {
await testInput.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
testInput.take()
const received = testInput.samples.get(0).get('my_int_sequence')
Expand All @@ -531,7 +531,7 @@ describe('Tests with a testOutput and testInput', () => {
await testInput.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught error: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
testInput.take()
const received = testInput.samples.get(0).get('my_point_sequence')
Expand All @@ -545,7 +545,7 @@ describe('Tests with a testOutput and testInput', () => {
await testInput.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught error: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
testInput.take()
const sample = testInput.samples.get(0)
Expand Down Expand Up @@ -1017,14 +1017,14 @@ describe('Tests with two readers and two writers', () => {
expect(newMatches).to.deep.equals(1)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
try {
const newMatches = await testOutput2.waitForSubscriptions(testExpectSuccessTimeout)
expect(newMatches).to.deep.equals(1)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -1041,7 +1041,7 @@ describe('Tests with two readers and two writers', () => {
try {
await connector.wait(testExpectFailureTimeout)
console.log('Expected connector.wait to timeout but it did not')
expect(true).to.deep.equals(false)
throw(err)
} catch (err) {
expect(err).to.be.an.instanceof(rti.TimeoutError)
}
Expand All @@ -1051,7 +1051,7 @@ describe('Tests with two readers and two writers', () => {
try {
await testInput1.wait(testExpectFailureTimeout)
console.log('Expected testInput1.wait to timeout but it did not')
expect(true).to.deep.equals(false)
throw(err)
} catch (err) {
expect(err).to.be.an.instanceof(rti.TimeoutError)
}
Expand All @@ -1061,7 +1061,7 @@ describe('Tests with two readers and two writers', () => {
try {
await testInput2.wait(testExpectFailureTimeout)
console.log('Expected testInput2.wait to timeout but it did not')
expect(true).to.deep.equals(false)
throw(err)
} catch (err) {
expect(err).to.be.an.instanceof(rti.TimeoutError)
}
Expand All @@ -1073,7 +1073,7 @@ describe('Tests with two readers and two writers', () => {
await connector.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -1083,7 +1083,7 @@ describe('Tests with two readers and two writers', () => {
await testInput1.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -1092,7 +1092,7 @@ describe('Tests with two readers and two writers', () => {
try {
await testInput2.wait(testExpectFailureTimeout)
console.log('Expected testInput2.wait to timeout but it did not')
expect(true).to.deep.equals(false)
throw(err)
} catch (err) {
expect(err).to.be.an.instanceof(rti.TimeoutError)
}
Expand All @@ -1104,7 +1104,7 @@ describe('Tests with two readers and two writers', () => {
await connector.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -1114,7 +1114,7 @@ describe('Tests with two readers and two writers', () => {
await testInput2.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -1123,7 +1123,7 @@ describe('Tests with two readers and two writers', () => {
try {
await testInput1.wait(testExpectFailureTimeout)
console.log('Expected testInput2.wait to timeout but it did not')
expect(true).to.deep.equals(false)
throw(err)
} catch (err) {
expect(err).to.be.an.instanceof(rti.TimeoutError)
}
Expand Down
4 changes: 2 additions & 2 deletions test/nodejs/test_rticonnextdds_dataflow.js
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Expand Up @@ -39,7 +39,7 @@ params.forEach((retrievalMethod) => {
expect(matches).to.be.at.least(1)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})

Expand All @@ -57,7 +57,7 @@ params.forEach((retrievalMethod) => {
await input.wait(testExpectSuccessTimeout)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
input[retrievalMethod]()
expect(input.samples.length).to.be.at.least(1)
Expand Down
8 changes: 4 additions & 4 deletions test/nodejs/test_rticonnextdds_discovery.js
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Expand Up @@ -188,7 +188,7 @@ describe('Discovery tests', function () {
} catch (err) {
console.log('Caught error: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
}
}
expect(totalMatches).to.be.at.least(2)
Expand Down Expand Up @@ -223,7 +223,7 @@ describe('Discovery tests', function () {
} catch (err) {
console.log('Caught error: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
}
}
expect(totalMatches).to.be.at.least(2)
Expand Down Expand Up @@ -369,7 +369,7 @@ describe('Discovery tests', function () {
} catch (err) {
console.log('Caught error: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
}

// Get the entity names of the matched subs
Expand All @@ -395,7 +395,7 @@ describe('Discovery tests', function () {
} catch (err) {
console.log('Caught error: ' + err)
// Fail the test
expect(true).to.deep.equals(false)
throw(err)
}
const matches = output.matchedSubscriptions
expect(matches.length).to.deep.equals(1)
Expand Down
2 changes: 1 addition & 1 deletion test/nodejs/test_rticonnextdds_events.js
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Expand Up @@ -78,7 +78,7 @@ describe('Connector EventEmitter tests', function () {
.then(() => {
// This should not have been possible
console.log('Error occurred. Expected wait to fail due to waitSetBusy')
expect(true).to.deep.equals(false)
throw(err)
})
.catch((err) => {
expect(err.message).to.deep.equals('Can not concurrently wait on the same Connector object')
Expand Down
2 changes: 1 addition & 1 deletion test/nodejs/test_rticonnextdds_input.js
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Expand Up @@ -97,7 +97,7 @@ describe('Subscriber not automatically enabled tests', () => {
expect(newMatches).to.deep.equals(1)
} catch (err) {
console.log('Caught err: ' + err)
expect(true).to.deep.equals(false)
throw(err)
}
})
})
Expand Down
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