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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 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=None, 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])

bus1 = can.interface.Bus(bustype='virtual')

bus2 = can.interface.Bus(bustype='virtual')

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()

self.assertMessageEqual(last_msg, msg)

bus1.shutdown()

bus2.shutdown()

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()