add a ZMQ test

Author: rdeits

src/python/tests/CMakeLists.txt

@@ -63,7 +63,8 @@ set(python_tests_standalone
 # todo
 # need this special case until robotlocomotion/lcmtypes are added to openhumanoids
 if(NOT USE_DRC)
-  list(APPEND python_tests_lcm testTreeViewerInterface.py)
+  list(APPEND python_tests_lcm testTreeViewerLCMInterface.py)
+  list(APPEND python_tests_lcm testTreeViewerZMQInterface.py)
   list(APPEND python_tests_lcm testTreeViewerClient.py)
   list(APPEND python_tests_lcm testTreeViewerPolyLine.py)
 endif()

…/python/tests/testTreeViewerInterface.py …thon/tests/testTreeViewerLCMInterface.pysrc/python/tests/testTreeViewerInterface.py renamed to src/python/tests/testTreeViewerLCMInterface.py src/python/tests/testTreeViewerInterface.py renamed to src/python/tests/testTreeViewerLCMInterface.py

@@ -0,0 +1,35 @@
+import os
+import subprocess
+import zmq
+import msgpack
+
+if __name__ == '__main__':
+    vis_binary = os.path.join(os.path.dirname(sys.executable),
+                              "drake-visualizer")
+    vis_process = subprocess.Popen([vis_binary, '--testing', '--interactive', '--treeviewer-zmq-url=tcp://127.0.0.1:56300'])
+    context = zmq.Context()
+    socket = context.socket(zmq.REQ)
+    socket.connect("tcp://127.0.0.1:56300")
+    print("connected")
+
+    data = {
+            "timestamp": 1486691399249288,
+            "setgeometry": [
+                    {
+                            "path": ["robot1", "link1"],
+                            "geometry": {
+                                    "type": "box",
+                                    "color": [1, 0, 0, 0.5],
+                                    "lengths": [1, 0.5, 2]
+                            }
+                    }
+            ],
+            "settransform": [],
+            "delete": []
+    }
+    print("sending")
+    socket.send(msgpack.packb(data))
+    print("waiting for reply")
+    print(socket.recv())
+
+    vis_process.terminate()