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#!/usr/bin/env python

# coding: utf-8

"""

This module tests cyclic send tasks.

"""

from time import sleep

import unittest

from unittest.mock import MagicMock

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()

@unittest.skipIf(IS_CI, "fails randomly when run on CI server")

def test_thread_based_cyclic_send_task(self):

bus = can.ThreadSafeBus(bustype="virtual")

msg = can.Message(

is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7]

)

# good case, bus is up

on_error_mock = MagicMock(return_value=False)

task = can.broadcastmanager.ThreadBasedCyclicSendTask(

bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock

)

task.start()

sleep(1)

on_error_mock.assert_not_called()

task.stop()

bus.shutdown()

# bus has been shutted down

on_error_mock = MagicMock(return_value=False)

task = can.broadcastmanager.ThreadBasedCyclicSendTask(

bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock

)

task.start()

sleep(1)

self.assertEqual(on_error_mock.call_count, 1)

task.stop()

# bus is still shutted down, but on_error returns True

on_error_mock = MagicMock(return_value=True)

task = can.broadcastmanager.ThreadBasedCyclicSendTask(

bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock

)

task.start()

sleep(1)

self.assertTrue(on_error_mock.call_count > 1)

task.stop()

if __name__ == "__main__":

unittest.main()