wip

cereal/messaging/tests/test_poller.py

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+import unittest
+import time
+import cereal.messaging as messaging
+
+import concurrent.futures
+
+
+def poller():
+  context = messaging.Context()
+
+  p = messaging.Poller()
+
+  sub = messaging.SubSocket()
+  sub.connect(context, 'controlsState')
+  p.registerSocket(sub)
+
+  socks = p.poll(10000)
+  r = [s.receive(non_blocking=True) for s in socks]
+
+  return r
+
+
+class TestPoller(unittest.TestCase):
+  def test_poll_once(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+
+      # Send message
+      pub.send(b"a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    self.assertEqual(result, [b"a"])
+
+  def test_poll_and_create_many_subscribers(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+      c = messaging.Context()
+      for _ in range(10):
+        messaging.SubSocket().connect(c, 'controlsState')
+
+      time.sleep(0.1)
+
+      # Send message
+      pub.send(b"a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    self.assertEqual(result, [b"a"])
+
+  def test_multiple_publishers_exception(self):
+    context = messaging.Context()
+
+    with self.assertRaises(messaging.MultiplePublishersError):
+      pub1 = messaging.PubSocket()
+      pub1.connect(context, 'controlsState')
+
+      pub2 = messaging.PubSocket()
+      pub2.connect(context, 'controlsState')
+
+      pub1.send(b"a")
+
+    del pub1
+    del pub2
+    context.term()
+
+  def test_multiple_messages(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    sub = messaging.SubSocket()
+    sub.connect(context, 'controlsState')
+
+    time.sleep(0.1)  # Slow joiner
+
+    for i in range(1, 100):
+      pub.send(b'a'*i)
+
+    msg_seen = False
+    i = 1
+    while True:
+      r = sub.receive(non_blocking=True)
+
+      if r is not None:
+        self.assertEqual(b'a'*i, r)
+
+        msg_seen = True
+        i += 1
+
+      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
+        break
+
+    del pub
+    del sub
+    context.term()
+
+  def test_conflate(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    sub = messaging.SubSocket()
+    sub.connect(context, 'controlsState', conflate=True)
+
+    time.sleep(0.1)  # Slow joiner
+    pub.send(b'a')
+    pub.send(b'b')
+
+    self.assertEqual(b'b', sub.receive())
+
+    del pub
+    del sub
+    context.term()
+
+
+if __name__ == "__main__":
+  unittest.main()