def test_1_producer_1_consumer(self):
"""Test single producer single consumer."""
def save_message(x):
self.message = x
def consume():
"""Function to consume messages."""
consume_messages(self.EXCHANGE, save_message)
consumer = threading.Thread(target=consume)
consumer.name = '{}:consume_messages'.format(self.__class__.__name__)
consumer.start()
# Give the receiver some time to set up, see comment below
time.sleep(0.05)
self.assertIs(self.message, None)
sent_message = 'banana'
producer = MessageProducer(self.EXCHANGE)
producer.publish(sent_message)
producer.publish('QUIT')
for _ in range(10):
# Because of a race condition, if the message is sent before the
# receiver has set up, the messages are never queued or something.
# Keep resending until the thread exits.
consumer.join(0.05)
if consumer.is_alive():
producer.publish(sent_message)
producer.publish('QUIT')
consumer.join(0.05)
self.assertFalse(consumer.is_alive())
producer.kill()
self.assertEqual(self.message, sent_message)
def terminate(signal_number, stack_frame): # pylint: disable=unused-argument
"""Terminates the program. Used when a signal is received."""
print(
'Received signal {signal_number}, quitting'.format(
signal_number=signal_number
)
)
if POPEN is not None and POPEN.poll() is None:
print('Killing image capture')
try:
POPEN.kill()
except OSError:
pass
DRIVER.drive(0.0, 0.0)
time.sleep(0.2)
try:
with open('/dev/pi-blaster', 'w') as blaster:
time.sleep(0.1)
blaster.write(
'{pin}={throttle}\n'.format(
pin=THROTTLE_GPIO_PIN,
throttle=THROTTLE_NEUTRAL_US
)
)
time.sleep(0.1)
blaster.write(
'{pin}={steering}\n'.format(
pin=STEERING_GPIO_PIN,
steering=STEERING_NEUTRAL_US
)
)
time.sleep(0.1)
except IOError:
pass
for socket in os.listdir(os.sep.join(('.', 'messaging', 'sockets'))):
MessageProducer(socket).kill()
time.sleep(0.1)
for thread in THREADS:
thread.kill()
thread.join()
# Some threads should still be active
expected = set(('MainThread', '_TimeoutMonitor'))
actives = set((thread.name for thread in threading.enumerate()))
if not (actives <= expected):
print('Trying to exit while {} threads are still active!'.format(
threading.active_count()
))
for thread in threading.enumerate():
print(thread.name)
sys.exit(0)
def __init__(self):
super(AsyncLogger, self).__init__()
self._producer = MessageProducer(config.LOGS_EXCHANGE)
self.warning = self.warn
def __init__(self):
super(WaypointProducer, self).__init__()
self._producer = MessageProducer(config.WAYPOINT_EXCHANGE)
def __init__(self):
super(CommandForwardProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_FORWARDED_EXCHANGE)
def __init__(self):
super(TelemetryProducer, self).__init__()
self._producer = MessageProducer(config.TELEMETRY_EXCHANGE)
