call_python: Test plotting.

common/proto/BUILD.bazel

@@ -98,22 +98,26 @@ drake_cc_googletest(
     ],
 )
 
-# TODO(eric.cousineau): Remove --no_plotting once we can open `$DISPLAY` on CI.
+# TODO(eric.cousineau): Add a test which will use an interactive matplotlib
+# backend on CI only.
 sh_test(
     name = "call_python_full_test",
     srcs = ["test/call_python_full_test.sh"],
-    args = [
-        "--no_plotting",
-        "$(location :call_python_test)",
-        "$(location :call_python_client_cli)",
-    ],
     data = [
         ":call_python_client_cli",
         ":call_python_test",
     ],
     # Certain versions of Mac don't like this script using `ps`. For this
     # reason, make the test run locally.
     local = 1,
+    # TODO(eric.cousineau): The `call_python_test` binary is flaky with asan /
+    # lsan; however, when the binary fails, it simply aborts without
+    # diagnostic information. When this is resolved, these tags should be
+    # removed.
+    tags = [
+        "no_asan",
+        "no_lsan",
+    ],
 )
 
 drake_cc_googletest(

common/proto/call_python_client.py

@@ -430,7 +430,7 @@ def producer_loop():
                     self._execute_message(msg)
                 # Spin busy for a bit, let matplotlib (or whatever) flush its
                 # event queue.
-                pause(0.001)
+                pause(0.01)
         except KeyboardInterrupt:
             # User pressed Ctrl+C.
             self._done = True
@@ -549,9 +549,9 @@ def main(argv):
     parser.add_argument(
         "--no_threading", action='store_true',
         help="Disable threaded dispatch.")
-    parser.add_argument("--stop_on_error", action='store_true',
-                        help="Stop client if there is an error when " +
-                             "executing a call.")
+    parser.add_argument(
+        "--stop_on_error", action='store_true',
+        help="Stop client if there is an error when executing a call.")
     parser.add_argument("-f", "--file", type=str, default=None)
     args = parser.parse_args(argv)
 

common/proto/test/call_python_full_test.sh

@@ -4,20 +4,27 @@ set -e -u
 # @file
 # @brief Tests the `call_python_client` CLI and `call_python` test together.
 
-cc_bin_flags=
-while [[ $# -gt 2 ]]; do
+no_plotting=
+# By default, set backend so that the test does not open windows.
+export MPLBACKEND="ps"
+
+while [[ $# -gt 0 ]]; do
     case ${1} in
         --no_plotting)
-            cc_bin_flags='--gtest_filter=-TestCallPython.Plot*'
+            no_plotting=1
             shift;;
+        --matplotlib_backend)
+            export MPLBACKEND=${2}
+            shift; shift;;
         *)
             echo "Bad argument: ${1}" >&2
             exit 1;;
     esac
 done
 
-cc_bin=${1}
-py_client_cli=${2}
+cur=$(dirname $0)
+cc_bin=${cur}/call_python_test
+py_client_cli=${cur}/call_python_client_cli
 # TODO(eric.cousineau): Use `tempfile` once we can choose which file C++
 # uses.
 filename=$(mktemp)
@@ -26,6 +33,17 @@ done_file=${filename}_done
 is_mac=
 if [[ "${OSTYPE}" == "darwin"* ]]; then
     is_mac=1
+    # Do not test if Mac has matplotlib 2.1.0:
+    # @ref https://github.com/matplotlib/matplotlib/issues/9345
+    mpl_ver=$(python -c "import matplotlib as mpl; print(mpl.__version__)")
+    if [[ ${mpl_ver} == "2.1.0" ]]; then
+        no_plotting=1
+    fi
+fi
+
+cc_bin_flags=
+if [[ ${no_plotting} == 1 ]]; then
+    cc_bin_flags='--gtest_filter=-TestCallPython.Plot*'
 fi
 
 py-error() {
@@ -35,7 +53,7 @@ py-error() {
 
 pause() {
     # General busy-spinning.
-    sleep 0.5
+    sleep 0.05
 }
 
 should-fail() {
@@ -136,7 +154,7 @@ threading-loop() {
         # TODO(eric.cousineau): In script form, this generally works well (only
         # one interrupt needed); however, interactively we need a few more.
         while ps -p ${pid} > /dev/null; do
-            kill -INT ${pid}
+            kill -INT ${pid} || :
             pause
         done
     fi