def test_execute_process_handle_input(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, process.ExecuteRequest('cat'))
server.socket.send(ident, process.ExecuteReply(2345))
ident, msg = server.socket.recv()
self.assertEqual(
msg, process.StreamAction(2345, process.STDIN, b'asdf\n'))
server.socket.send(ident, ack.Acknowledgement())
server.socket.send(
ident, process.StreamUpdate(2345, process.STDOUT, b'asdf\n'))
ident, msg = server.socket.recv()
self.assertEqual(msg, process.StreamAction(2345, process.STDIN))
server.socket.send(ident, ack.Acknowledgement())
server.socket.send(ident,
process.StreamUpdate(2345, process.STDOUT))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDERR))
server.socket.send(ident, process.ExitUpdate(2345, 0))
with HedgehogClient(ctx, 'inproc://controller') as client:
self.assertEqual(client.execute_process('cat'), 2345)
self.assertEqual(client.send_process_data(2345, b'asdf\n'), None)
self.assertEqual(client.send_process_data(2345), None)
thread.join()
def test_execute_process_handle_exit(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, process.ExecuteRequest('echo', 'asdf'))
server.socket.send(ident, process.ExecuteReply(2345))
server.socket.send(
ident, process.StreamUpdate(2345, process.STDOUT, b'asdf\n'))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDOUT))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDERR))
server.socket.send(ident, process.ExitUpdate(2345, 0))
exit_a, exit_b = pipe(ctx)
with HedgehogClient(ctx, 'inproc://controller') as client:
def on_exit(client, pid, exit_code):
self.assertEqual(pid, 2345)
self.assertEqual(exit_code, 0)
exit_b.signal()
self.assertEqual(
client.execute_process('echo', 'asdf', on_exit=on_exit), 2345)
exit_a.wait()
thread.join()
def test_connect(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
pass
with HedgehogClient(ctx, 'inproc://controller') as client:
pass
thread.join()
def test_set_servo(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, servo.Action(0, False, 0))
server.socket.send(ident, ack.Acknowledgement())
with HedgehogClient(ctx, 'inproc://controller') as client:
self.assertEqual(client.set_servo(0, False, 0), None)
thread.join()
def test_get_motor(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, motor.Request(0))
server.socket.send(ident, motor.Update(0, 0, 0))
with HedgehogClient(ctx, 'inproc://controller') as client:
self.assertEqual(client.get_motor(0), (0, 0))
thread.join()
def test_set_digital_output(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, io.StateAction(0, io.OUTPUT_OFF))
server.socket.send(ident, ack.Acknowledgement())
with HedgehogClient(ctx, 'inproc://controller') as client:
self.assertEqual(client.set_digital_output(0, False), None)
thread.join()
def test_shutdown(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
pass
with HedgehogClient(ctx, 'inproc://controller') as client:
client.shutdown()
with self.assertRaises(errors.FailedCommandError):
client.get_analog(0)
thread.join()
def test_unsupported(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, analog.Request(0))
server.socket.send(ident,
ack.Acknowledgement(ack.UNSUPPORTED_COMMAND))
with HedgehogClient(ctx, 'inproc://controller') as client:
with self.assertRaises(errors.UnsupportedCommandError):
client.get_analog(0)
thread.join()
def test_execute_process_handle_stream(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, process.ExecuteRequest('echo', 'asdf'))
server.socket.send(ident, process.ExecuteReply(2345))
server.socket.send(
ident, process.StreamUpdate(2345, process.STDOUT, b'asdf\n'))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDOUT))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDERR))
server.socket.send(ident, process.ExitUpdate(2345, 0))
exit_a, exit_b = pipe(ctx)
with HedgehogClient(ctx, 'inproc://controller') as client:
@coroutine
def on_stdout():
client, pid, fileno, chunk = yield
self.assertEqual(pid, 2345)
self.assertEqual(fileno, process.STDOUT)
self.assertEqual(chunk, b'asdf\n')
client, pid, fileno, chunk = yield
self.assertEqual(pid, 2345)
self.assertEqual(fileno, process.STDOUT)
self.assertEqual(chunk, b'')
exit_b.signal()
yield
self.assertEqual(
client.execute_process('echo', 'asdf', on_stdout=on_stdout()),
2345)
exit_a.wait()
thread.join()
def test_execute_process_handle_nothing(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident, msg = server.socket.recv()
self.assertEqual(msg, process.ExecuteRequest('echo', 'asdf'))
server.socket.send(ident, process.ExecuteReply(2345))
server.socket.send(
ident, process.StreamUpdate(2345, process.STDOUT, b'asdf\n'))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDOUT))
server.socket.send(ident,
process.StreamUpdate(2345, process.STDERR))
server.socket.send(ident, process.ExitUpdate(2345, 0))
with HedgehogClient(ctx, 'inproc://controller') as client:
self.assertEqual(client.execute_process('echo', 'asdf'), 2345)
thread.join()
def test_multiple_client_threads(self):
ctx = zmq.Context()
@HedgehogServerDummy(self, ctx, 'inproc://controller')
def thread(server):
ident1, msg = server.socket.recv()
self.assertEqual(msg, analog.Request(0))
server.socket.send(ident1, analog.Update(0, 0))
ident2, msg = server.socket.recv()
self.assertEqual(msg, analog.Request(0))
server.socket.send(ident2, analog.Update(0, 0))
self.assertEqual(ident1[0], ident2[0])
with HedgehogClient(ctx, 'inproc://controller') as client1:
self.assertEqual(client1.get_analog(0), 0)
def spawned(client2):
self.assertEqual(client2.get_analog(0), 0)
client1.spawn(spawned)
thread.join()