FilesExpand file tree

 develop

/

simplecyclic_test.py

Copy path

Blame

More file actions

Blame

More file actions

Latest commit

 

History

History

History

156 lines (123 loc) · 5.14 KB

 develop

/

simplecyclic_test.py

Copy path

Top

File metadata and controls

• Code
• Blame

156 lines (123 loc) · 5.14 KB

Raw

Copy raw file

Download raw file

Open symbols panel

Edit and raw actions

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

#!/usr/bin/env python

# coding: utf-8

"""

This module tests cyclic send tasks.

"""

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()