def subscribe_test():
# Nothing beyond the base fixture is required for this test.
manager = yield From(pygazebo.connect())
print('Pygazebo connected.')
received_data = []
first_data_future = trollius.Future()
def callback(data):
received_data.append(data)
if not first_data_future.done():
first_data_future.set_result(None)
listen = trollius.Future()
manager.server.read_packet(lambda data: listen.set_result(data))
subscriber = manager.manager.subscribe('subscribetopic', 'othermsgtype',
callback)
assert subscriber is not None
print('Before run listen')
loop.run_until_complete(listen)
print('After run listen')
packet_data = listen.result()
# We should have received a subscribe for this topic.
packet = packet_pb2.Packet.FromString(packet_data)
assert packet.type == 'subscribe'
subscribe = subscribe_pb2.Subscribe.FromString(packet.serialized_data)
assert subscribe.topic == 'subscribetopic'
assert subscribe.msg_type == 'othermsgtype'
def test_default_exc_handler_callback(self):
self.loop._process_events = mock.Mock()
def zero_error(fut):
fut.set_result(True)
1 / 0
# Test call_soon (events.Handle)
with mock.patch('trollius.base_events.logger') as log:
fut = asyncio.Future(loop=self.loop)
self.loop.call_soon(zero_error, fut)
fut.add_done_callback(lambda fut: self.loop.stop())
self.loop.run_forever()
log.error.assert_called_with(
test_utils.MockPattern('Exception in callback.*zero'),
exc_info=(ZeroDivisionError, MOCK_ANY, MOCK_ANY))
# Test call_later (events.TimerHandle)
with mock.patch('trollius.base_events.logger') as log:
fut = asyncio.Future(loop=self.loop)
self.loop.call_later(0.01, zero_error, fut)
fut.add_done_callback(lambda fut: self.loop.stop())
self.loop.run_forever()
log.error.assert_called_with(
test_utils.MockPattern('Exception in callback.*zero'),
exc_info=(ZeroDivisionError, MOCK_ANY, MOCK_ANY))
def test_cancel_handshake(self):
# Python issue #23197: cancelling an handshake must not raise an
# exception or log an error, even if the handshake failed
sslcontext = test_utils.dummy_ssl_context()
app_proto = asyncio.Protocol()
waiter = asyncio.Future(loop=self.loop)
ssl_proto = sslproto.SSLProtocol(self.loop, app_proto, sslcontext,
waiter)
handshake_fut = asyncio.Future(loop=self.loop)
def do_handshake(callback):
exc = Exception()
callback(exc)
handshake_fut.set_result(None)
return []
waiter.cancel()
transport = mock.Mock()
sslpipe = mock.Mock()
sslpipe.shutdown.return_value = b''
sslpipe.do_handshake.side_effect = do_handshake
with mock.patch('trollius.sslproto._SSLPipe', return_value=sslpipe):
ssl_proto.connection_made(transport)
with test_utils.disable_logger():
self.loop.run_until_complete(handshake_fut)
# Close the transport
ssl_proto._app_transport.close()
def test_pause_resume_reading(self):
tr = self.socket_transport()
futures = []
for msg in [b'data1', b'data2', b'data3', b'data4', b'']:
f = asyncio.Future(loop=self.loop)
f.set_result(msg)
futures.append(f)
self.loop._proactor.recv.side_effect = futures
self.loop._run_once()
self.assertFalse(tr._paused)
self.loop._run_once()
self.protocol.data_received.assert_called_with(b'data1')
self.loop._run_once()
self.protocol.data_received.assert_called_with(b'data2')
tr.pause_reading()
self.assertTrue(tr._paused)
for i in range(10):
self.loop._run_once()
self.protocol.data_received.assert_called_with(b'data2')
tr.resume_reading()
self.assertFalse(tr._paused)
self.loop._run_once()
self.protocol.data_received.assert_called_with(b'data3')
self.loop._run_once()
self.protocol.data_received.assert_called_with(b'data4')
tr.close()
def test_ctor(self):
fut = asyncio.Future(loop=self.loop)
tr = self.socket_transport(waiter=fut)
test_utils.run_briefly(self.loop)
self.assertIsNone(fut.result())
self.protocol.connection_made(tr)
self.proactor.recv.assert_called_with(self.sock, 4096)
def list_controllers(self, timeout):
@asyncio.coroutine
def on_response_received(packet, future):
self.logger.debug("List of controllers received with status={}".format(
packet.status))
self.remove_callback(packet.packet_uuid)
if packet.status_code == StatusCode.Success:
controllers = packet.get(name='controllers',
format_function=lambda raw_ctrls: [
Controller.from_flatbuffers(raw_ctrl)
for raw_ctrl in raw_ctrls
])
future.set_result(controllers)
else:
future.set_exception(
BaBLEException(packet, "Failed to list controllers"))
future = asyncio.Future()
request_packet = Packet.build(GetControllersList)
self.register_callback(request_packet.packet_uuid,
callback=on_response_received,
params={'future': future})
self.send_packet(request_packet)
self.logger.debug("Waiting for list of controllers...")
try:
controllers = yield From(asyncio.wait_for(future, timeout=timeout))
raise asyncio.Return(controllers)
except asyncio.TimeoutError:
self.remove_callback(request_packet.packet_uuid)
raise RuntimeError("List controllers timed out")
def test_proc_exited(self):
waiter = asyncio.Future(loop=self.loop)
transport, protocol = self.create_transport(waiter)
transport._process_exited(6)
self.loop.run_until_complete(waiter)
self.assertEqual(transport.get_returncode(), 6)
self.assertTrue(protocol.connection_made.called)
self.assertTrue(protocol.process_exited.called)
self.assertTrue(protocol.connection_lost.called)
self.assertEqual(protocol.connection_lost.call_args[0], (None, ))
self.assertFalse(transport._closed)
self.assertIsNone(transport._loop)
self.assertIsNone(transport._proc)
self.assertIsNone(transport._protocol)
# methods must raise ProcessLookupError if the process exited
self.assertRaises(ProcessLookupError, transport.send_signal,
signal.SIGTERM)
self.assertRaises(ProcessLookupError, transport.terminate)
self.assertRaises(ProcessLookupError, transport.kill)
transport.close()
def test_loop_writing_stop(self):
fut = asyncio.Future(loop=self.loop)
fut.set_result(b'data')
tr = self.socket_transport()
tr._write_fut = fut
tr._loop_writing(fut)
self.assertIsNone(tr._write_fut)
def test_loop_reading_data(self):
res = asyncio.Future(loop=self.loop)
res.set_result(b'data')
tr = self.socket_transport()
tr._read_fut = res
tr._loop_reading(res)
self.loop._proactor.recv.assert_called_with(self.sock, 4096)
self.protocol.data_received.assert_called_with(b'data')
def test_future_source_traceback(self):
self.loop.set_debug(True)
future = asyncio.Future(loop=self.loop)
lineno = sys._getframe().f_lineno - 1
self.assertIsInstance(future._source_traceback, list)
filename = sys._getframe().f_code.co_filename
self.assertEqual(future._source_traceback[-1][:3],
(filename, lineno, 'test_future_source_traceback'))
def test_thread(loop, debug, create_loop=False):
event = threading.Event()
fut = asyncio.Future(loop=loop)
loop.call_soon(event.set)
args = (loop, event, debug, create_loop, fut)
thread = threading.Thread(target=check_in_thread, args=args)
thread.start()
loop.run_until_complete(fut)
thread.join()
def set_single_pose(self, servo_id, value):
future = asyncio.Future()
try:
write_dict = {servo_id: value}
self.controller.set_pose(write_dict, future)
except Exception as e:
print "Got exception writing pose:", e
raise
yield From(future)
def test_tb_logger_exception_unretrieved(self, m_log):
self.loop.set_debug(True)
asyncio.set_event_loop(self.loop)
fut = asyncio.Future(loop=self.loop)
fut.set_exception(RuntimeError('boom'))
del fut
test_utils.run_briefly(self.loop)
support.gc_collect()
self.assertTrue(m_log.error.called)
def test_cancel(self):
f = asyncio.Future(loop=self.loop)
self.assertTrue(f.cancel())
self.assertTrue(f.cancelled())
self.assertTrue(f.done())
self.assertRaises(asyncio.CancelledError, f.result)
self.assertRaises(asyncio.CancelledError, f.exception)
self.assertRaises(asyncio.InvalidStateError, f.set_result, None)
self.assertRaises(asyncio.InvalidStateError, f.set_exception, None)
self.assertFalse(f.cancel())
def monitor_status(self):
voltages = {}
temperatures = {}
ident = 0
while True:
if (self.controller is not None
and hasattr(self.controller, 'get_voltage')):
try:
ident = (ident + 1) % len(self.servo_controls)
future = asyncio.Future()
self.controller.get_voltage([ident], future)
this_voltage = yield From(future)
voltages.update(this_voltage)
# Get all temperatures.
future = asyncio.Future()
self.controller.get_temperature([ident], future)
this_temp = yield From(future)
temperatures.update(this_temp)
def non_None(value):
return [x for x in value if x is not None]
message = "Servo status: "
if len(non_None(voltages.values())):
message += "%.1f/%.1fV" % (
min(non_None(voltages.values())),
max(non_None(voltages.values())))
if len(non_None(temperatures.values())):
message += " %.1f/%.1fC" % (
min(non_None(temperatures.values())),
max(non_None(temperatures.values())))
self.status.showMessage(message, 10000)
except Exception as e:
traceback.print_exc()
print "Error reading servo:", type(e), str(e)
yield From(asyncio.sleep(2.0))
def probe_characteristics(self, controller_id, connection_handle, start_handle,
end_handle, on_characteristics_probed, timeout):
if isinstance(on_characteristics_probed, (tuple, list)):
on_characteristics_probed_cb = on_characteristics_probed[0]
on_characteristics_probed_params = on_characteristics_probed[1:]
else:
on_characteristics_probed_cb = on_characteristics_probed
on_characteristics_probed_params = []
@asyncio.coroutine
def on_response_received(packet, future):
self.logger.debug(
"Probe characteristics response received with status={}".format(
packet.status))
self.remove_callback(packet.packet_uuid)
if packet.status_code == StatusCode.Success:
characteristics = packet.get_dict([
'controller_id', 'connection_handle',
('characteristics', lambda chars:
[Characteristic.from_flatbuffers(char) for char in chars])
])
on_characteristics_probed_cb(True, characteristics, None,
*on_characteristics_probed_params)
future.set_result(characteristics)
else:
error = BaBLEException(packet,
"Failed to probe characteristics",
connection_handle=connection_handle)
on_characteristics_probed_cb(False, None, error,
*on_characteristics_probed_params)
future.set_exception(error)
future = asyncio.Future()
request_packet = Packet.build(ProbeCharacteristics,
controller_id=controller_id,
connection_handle=connection_handle,
start_handle=start_handle,
end_handle=end_handle)
self.register_callback(request_packet.packet_uuid,
callback=on_response_received,
params={'future': future})
self.send_packet(request_packet)
self.logger.debug("Waiting for characteristics...")
try:
characteristics = yield From(asyncio.wait_for(future, timeout=timeout))
raise asyncio.Return(characteristics)
except asyncio.TimeoutError:
self.remove_callback(request_packet.packet_uuid)
raise RuntimeError("Probe characteristics timed out")
def read(self, controller_id, connection_handle, attribute_handle, on_read,
timeout):
if isinstance(on_read, (tuple, list)):
on_read_cb = on_read[0]
on_read_params = on_read[1:]
else:
on_read_cb = on_read
on_read_params = []
@asyncio.coroutine
def on_response_received(packet, future):
self.logger.debug("Read response received with status={}".format(
packet.status))
self.remove_callback(packet.packet_uuid)
if packet.status_code == StatusCode.Success:
data = packet.get_dict([
'controller_id', 'connection_handle', 'attribute_handle',
('value', bytes)
])
on_read_cb(True, data, None, *on_read_params)
future.set_result(data)
else:
error = BaBLEException(packet,
"Failed to read value",
connection_handle=connection_handle,
attribute_handle=attribute_handle)
on_read_cb(False, None, error, *on_read_params)
future.set_exception(error)
future = asyncio.Future()
request_packet = Packet.build(ReadCentral,
controller_id=controller_id,
connection_handle=connection_handle,
attribute_handle=attribute_handle)
self.register_callback(request_packet.packet_uuid,
callback=on_response_received,
params={'future': future})
self.send_packet(request_packet)
self.logger.debug("Reading...")
try:
result = yield From(asyncio.wait_for(future, timeout=timeout))
raise asyncio.Return(result)
except asyncio.TimeoutError:
self.remove_callback(request_packet.packet_uuid)
on_read_cb(False, None, "Read timed out", *on_read_params)
raise RuntimeError("Read timed out")
def test_loop_writing_closing(self):
fut = asyncio.Future(loop=self.loop)
fut.set_result(1)
tr = self.socket_transport()
tr._write_fut = fut
tr.close()
tr._loop_writing(fut)
self.assertIsNone(tr._write_fut)
test_utils.run_briefly(self.loop)
self.protocol.connection_lost.assert_called_with(None)
def handle_capture_current(self):
with self.servo_update:
future = asyncio.Future()
self.controller.get_pose(range(len(self.servo_controls)), future)
results = yield From(future)
for ident, angle in results.iteritems():
if angle is None:
continue
control = self.servo_controls[ident]
control['slider'].setSliderPosition(int(angle))
control['doublespin'].setValue(angle)
def test_get_with_putters(self):
q = asyncio.Queue(1, loop=self.loop)
q.put_nowait(1)
waiter = asyncio.Future(loop=self.loop)
q._putters.append((2, waiter))
res = self.loop.run_until_complete(q.get())
self.assertEqual(1, res)
self.assertTrue(waiter.done())
self.assertIsNone(waiter.result())
def test_dont_pause_writing(self):
tr = self.pause_writing_transport(high=4)
# write a large chunk which completes immedialty,
# it should not pause writing
fut = asyncio.Future(loop=self.loop)
fut.set_result(None)
self.loop._proactor.send.return_value = fut
tr.write(b'very large data')
self.loop._run_once()
self.assertEqual(tr.get_write_buffer_size(), 0)
self.assertFalse(self.protocol.pause_writing.called)
def test_create_server_cancel(self):
pf = mock.Mock()
call_soon = self.loop.call_soon = mock.Mock()
self.loop._start_serving(pf, self.sock)
loop = call_soon.call_args[0][0]
# cancelled
fut = asyncio.Future(loop=self.loop)
fut.cancel()
loop(fut)
self.assertTrue(self.sock.close.called)
def test_copy_state(self):
# Test the internal _copy_state method since it's being directly
# invoked in other modules.
f = asyncio.Future(loop=self.loop)
f.set_result(10)
newf = asyncio.Future(loop=self.loop)
newf._copy_state(f)
self.assertTrue(newf.done())
self.assertEqual(newf.result(), 10)
f_exception = asyncio.Future(loop=self.loop)
f_exception.set_exception(RuntimeError())
newf_exception = asyncio.Future(loop=self.loop)
newf_exception._copy_state(f_exception)
self.assertTrue(newf_exception.done())
self.assertRaises(RuntimeError, newf_exception.result)
f_cancelled = asyncio.Future(loop=self.loop)
f_cancelled.cancel()
newf_cancelled = asyncio.Future(loop=self.loop)
newf_cancelled._copy_state(f_cancelled)
self.assertTrue(newf_cancelled.cancelled())
def handle_move_to_pose(self):
if self.ui.poseList.currentRow() < 0:
return
values = self.ui.poseList.currentItem().data(QtCore.Qt.UserRole)
future = asyncio.Future()
self.controller.set_pose(values, future)
yield From(future)
with self.servo_update:
for ident, angle_deg in values.iteritems():
control = self.servo_controls[ident]
control['slider'].setSliderPosition(int(angle_deg))
control['doublespin'].setValue(angle_deg)
def test_close(self):
self.assertFalse(self.loop.is_closed())
self.loop.close()
self.assertTrue(self.loop.is_closed())
# it should be possible to call close() more than once
self.loop.close()
self.loop.close()
# operation blocked when the loop is closed
f = asyncio.Future(loop=self.loop)
self.assertRaises(RuntimeError, self.loop.run_forever)
self.assertRaises(RuntimeError, self.loop.run_until_complete, f)
def test_write_eof_buffer(self):
tr = self.socket_transport()
f = asyncio.Future(loop=self.loop)
tr._loop._proactor.send.return_value = f
tr.write(b'data')
tr.write_eof()
self.assertTrue(tr._eof_written)
self.assertFalse(self.sock.shutdown.called)
tr._loop._proactor.send.assert_called_with(self.sock, b'data')
f.set_result(4)
self.loop._run_once()
self.sock.shutdown.assert_called_with(socket.SHUT_WR)
tr.close()
def test_exception(self):
exc = RuntimeError()
f = asyncio.Future(loop=self.loop)
self.assertRaises(asyncio.InvalidStateError, f.exception)
f.set_exception(exc)
self.assertFalse(f.cancelled())
self.assertTrue(f.done())
self.assertRaises(RuntimeError, f.result)
self.assertEqual(f.exception(), exc)
self.assertRaises(asyncio.InvalidStateError, f.set_result, None)
self.assertRaises(asyncio.InvalidStateError, f.set_exception, None)
self.assertFalse(f.cancel())
def test_loop_reading_no_data(self):
res = asyncio.Future(loop=self.loop)
res.set_result(b'')
tr = self.socket_transport()
self.assertRaises(AssertionError, tr._loop_reading, res)
tr.close = mock.Mock()
tr._read_fut = res
tr._loop_reading(res)
self.assertFalse(self.loop._proactor.recv.called)
self.assertTrue(self.protocol.eof_received.called)
self.assertTrue(tr.close.called)
def test_write_eof_buffer_write_pipe(self):
tr = _ProactorWritePipeTransport(self.loop, self.sock, self.protocol)
f = asyncio.Future(loop=self.loop)
tr._loop._proactor.send.return_value = f
tr.write(b'data')
tr.write_eof()
self.assertTrue(tr._closing)
self.assertFalse(self.sock.shutdown.called)
tr._loop._proactor.send.assert_called_with(self.sock, b'data')
f.set_result(4)
self.loop._run_once()
self.loop._run_once()
self.assertTrue(self.sock.close.called)
tr.close()
def __init__(self, factory, loop=None, logger=None, subscriptions=None):
super(CoreMqClientProtocol, self).__init__()
self.factory = factory
self.loop = loop or factory.loop
self.transport = None
self.reader = asyncio.StreamReader()
self.writer = None
self.uuid = None
self.logger = factory.get_logger(logger)
self.subscriptions = subscriptions or []
self.options = dict()
self.server = None
self.connected_future = asyncio.Future()
