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#!/usr/bin/env python
# coding: utf-8
"""
This module tests cyclic send tasks.
"""
from __future__ import absolute_import
from time import sleep
import unittest
import gc
import can
from .config import *
from .message_helper import ComparingMessagesTestCase
class SimpleCyclicSendTaskTest(unittest.TestCase, ComparingMessagesTestCase):
def __init__(self, *args, **kwargs):
unittest.TestCase.__init__(self, *args, **kwargs)
ComparingMessagesTestCase.__init__(self, allowed_timestamp_delta=0.016, preserves_channel=True)
@unittest.skipIf(IS_CI, "the timing sensitive behaviour cannot be reproduced reliably on a CI server")
def test_cycle_time(self):
msg = can.Message(is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7])
with can.interface.Bus(bustype='virtual') as bus1:
with can.interface.Bus(bustype='virtual') as bus2:
# disabling the garbage collector makes the time readings more reliable
gc.disable()
task = bus1.send_periodic(msg, 0.01, 1)
self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)
sleep(2)
size = bus2.queue.qsize()
# About 100 messages should have been transmitted
self.assertTrue(80 <= size <= 120,
'100 +/- 20 messages should have been transmitted. But queue contained {}'.format(size))
last_msg = bus2.recv()
next_last_msg = bus2.recv()
# we need to reenable the garbage collector again
gc.enable()
# Check consecutive messages are spaced properly in time and have
# the same id/data
self.assertMessageEqual(last_msg, next_last_msg)
# Check the message id/data sent is the same as message received
# Set timestamp and channel to match recv'd because we don't care
# and they are not initialized by the can.Message constructor.
msg.timestamp = last_msg.timestamp
msg.channel = last_msg.channel
self.assertMessageEqual(msg, last_msg)
def test_removing_bus_tasks(self):
bus = can.interface.Bus(bustype='virtual')
tasks = []
for task_i in range(10):
msg = can.Message(is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7])
msg.arbitration_id = task_i
task = bus.send_periodic(msg, 0.1, 1)
tasks.append(task)
self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)
assert len(bus._periodic_tasks) == 10
for task in tasks:
# Note calling task.stop will remove the task from the Bus's internal task management list
task.stop()
assert len(bus._periodic_tasks) == 0
bus.shutdown()
def test_managed_tasks(self):
bus = can.interface.Bus(bustype='virtual', receive_own_messages=True)
tasks = []
for task_i in range(3):
msg = can.Message(is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7])
msg.arbitration_id = task_i
task = bus.send_periodic(msg, 0.1, 10, store_task=False)
tasks.append(task)
self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)
assert len(bus._periodic_tasks) == 0
# Self managed tasks should still be sending messages
for _ in range(50):
received_msg = bus.recv(timeout=5.0)
assert received_msg is not None
assert received_msg.arbitration_id in {0, 1, 2}
for task in tasks:
task.stop()
for task in tasks:
assert task.thread.join(5.0) is None, "Task didn't stop before timeout"
bus.shutdown()
def test_stopping_perodic_tasks(self):
bus = can.interface.Bus(bustype='virtual')
tasks = []
for task_i in range(10):
msg = can.Message(is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7])
msg.arbitration_id = task_i
task = bus.send_periodic(msg, 0.1, 1)
tasks.append(task)
assert len(bus._periodic_tasks) == 10
# stop half the tasks using the task object
for task in tasks[::2]:
task.stop()
assert len(bus._periodic_tasks) == 5
# stop the other half using the bus api
bus.stop_all_periodic_tasks(remove_tasks=False)
for task in tasks:
assert task.thread.join(5.0) is None, "Task didn't stop before timeout"
# Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should
# still be associated with the bus (e.g. for restarting)
assert len(bus._periodic_tasks) == 5
bus.shutdown()
if __name__ == '__main__':
unittest.main()
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