def _unittest_redundant_input_monotonic() -> None:
import pytest
from pyuavcan.transport import Transfer, Timestamp, Priority
from pyuavcan.transport.loopback import LoopbackTransport
loop = asyncio.get_event_loop()
await_ = loop.run_until_complete
spec = pyuavcan.transport.InputSessionSpecifier(
pyuavcan.transport.MessageDataSpecifier(4321), None)
spec_tx = pyuavcan.transport.OutputSessionSpecifier(
spec.data_specifier, None)
meta = pyuavcan.transport.PayloadMetadata(30)
ts = Timestamp.now()
tr_a = LoopbackTransport(111)
tr_b = LoopbackTransport(111)
tx_a = tr_a.get_output_session(spec_tx, meta)
tx_b = tr_b.get_output_session(spec_tx, meta)
inf_a = tr_a.get_input_session(spec, meta)
inf_b = tr_b.get_input_session(spec, meta)
inf_a.transfer_id_timeout = 1.1 # This is used to ensure that the transfer-ID timeout is handled correctly.
ses = RedundantInputSession(
spec,
meta,
tid_modulo_provider=lambda:
None, # Like UDP or serial - infinite modulo.
loop=loop,
finalizer=lambda: None,
)
assert ses.specifier is spec
assert ses.payload_metadata is meta
assert not ses.inferiors
assert ses.sample_statistics() == RedundantSessionStatistics()
assert pytest.approx(0.0) == ses.transfer_id_timeout
# Add inferiors.
ses._add_inferior(inf_a) # No change, added above # pylint: disable=protected-access
assert ses.inferiors == [inf_a]
ses._add_inferior(inf_b) # pylint: disable=protected-access
assert ses.inferiors == [inf_a, inf_b]
ses.transfer_id_timeout = 1.1
assert ses.transfer_id_timeout == pytest.approx(1.1)
assert inf_a.transfer_id_timeout == pytest.approx(1.1)
assert inf_b.transfer_id_timeout == pytest.approx(1.1)
# Redundant reception from multiple interfaces concurrently.
for tx_x in (tx_a, tx_b):
assert await_(
tx_x.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=2,
fragmented_payload=[memoryview(b"def")],
),
loop.time() + 1.0,
))
assert await_(
tx_x.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=3,
fragmented_payload=[memoryview(b"ghi")],
),
loop.time() + 1.0,
))
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 2
assert tr.fragmented_payload == [memoryview(b"def")]
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 3
assert tr.fragmented_payload == [memoryview(b"ghi")]
assert None is await_(
ses.receive(loop.time() + 2.0)) # Nothing left to read now.
# This one will be accepted despite a smaller transfer-ID because of the TID timeout.
assert await_(
tx_a.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=1,
fragmented_payload=[memoryview(b"acc")],
),
loop.time() + 1.0,
))
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 1
assert tr.fragmented_payload == [memoryview(b"acc")]
assert tr.inferior_session == inf_a
# Stats check.
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=3,
frames=inf_a.sample_statistics().frames +
inf_b.sample_statistics().frames,
payload_bytes=9,
errors=0,
drops=0,
inferiors=[
inf_a.sample_statistics(),
inf_b.sample_statistics(),
],
)
ses.close()
def _unittest_redundant_input_cyclic() -> None:
import time
import pytest
from pyuavcan.transport import Transfer, Timestamp, Priority, ResourceClosedError
from pyuavcan.transport.loopback import LoopbackTransport
loop = asyncio.get_event_loop()
await_ = loop.run_until_complete
spec = pyuavcan.transport.InputSessionSpecifier(
pyuavcan.transport.MessageDataSpecifier(4321), None)
spec_tx = pyuavcan.transport.OutputSessionSpecifier(
spec.data_specifier, None)
meta = pyuavcan.transport.PayloadMetadata(30)
ts = Timestamp.now()
tr_a = LoopbackTransport(111)
tr_b = LoopbackTransport(111)
tx_a = tr_a.get_output_session(spec_tx, meta)
tx_b = tr_b.get_output_session(spec_tx, meta)
inf_a = tr_a.get_input_session(spec, meta)
inf_b = tr_b.get_input_session(spec, meta)
inf_a.transfer_id_timeout = 1.1 # This is used to ensure that the transfer-ID timeout is handled correctly.
is_retired = False
def retire() -> None:
nonlocal is_retired
is_retired = True
ses = RedundantInputSession(
spec,
meta,
tid_modulo_provider=lambda: 32,
loop=loop,
finalizer=retire # Like CAN, for example.
)
assert not is_retired
assert ses.specifier is spec
assert ses.payload_metadata is meta
assert not ses.inferiors
assert ses.sample_statistics() == RedundantSessionStatistics()
assert pytest.approx(0.0) == ses.transfer_id_timeout
# Empty inferior set reception.
time_before = loop.time()
assert not await_(ses.receive(loop.time() + 2.0))
assert 1.0 < loop.time(
) - time_before < 5.0, "The method should have returned in about two seconds."
# Begin reception, then add an inferior while the reception is in progress.
assert await_(
tx_a.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=1,
fragmented_payload=[memoryview(b"abc")],
),
loop.time() + 1.0,
))
async def add_inferior(inferior: pyuavcan.transport.InputSession) -> None:
await asyncio.sleep(1.0)
ses._add_inferior(inferior) # pylint: disable=protected-access
time_before = loop.time()
tr, _ = await_(
asyncio.gather(
# Start reception here. It would stall for two seconds because no inferiors.
ses.receive(loop.time() + 2.0),
# While the transmission is stalled, add one inferior with a delay.
add_inferior(inf_a),
))
assert 0.0 < loop.time(
) - time_before < 5.0, "The method should have returned in about one second."
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 1
assert tr.fragmented_payload == [memoryview(b"abc")]
assert tr.inferior_session == inf_a
# More inferiors
assert ses.transfer_id_timeout == pytest.approx(1.1)
ses._add_inferior(inf_a) # No change, added above # pylint: disable=protected-access
assert ses.inferiors == [inf_a]
ses._add_inferior(inf_b) # pylint: disable=protected-access
assert ses.inferiors == [inf_a, inf_b]
assert ses.transfer_id_timeout == pytest.approx(1.1)
assert inf_b.transfer_id_timeout == pytest.approx(1.1)
# Redundant reception - new transfers accepted because the iface switch timeout is exceeded.
time.sleep(ses.transfer_id_timeout
) # Just to make sure that it is REALLY exceeded.
assert await_(
tx_b.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=2,
fragmented_payload=[memoryview(b"def")],
),
loop.time() + 1.0,
))
assert await_(
tx_b.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=3,
fragmented_payload=[memoryview(b"ghi")],
),
loop.time() + 1.0,
))
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 2
assert tr.fragmented_payload == [memoryview(b"def")]
assert tr.inferior_session == inf_b
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 3
assert tr.fragmented_payload == [memoryview(b"ghi")]
assert tr.inferior_session == inf_b
assert None is await_(
ses.receive(loop.time() + 1.0)) # Nothing left to read now.
# This one will be rejected because wrong iface and the switch timeout is not yet exceeded.
assert await_(
tx_a.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=4,
fragmented_payload=[memoryview(b"rej")],
),
loop.time() + 1.0,
))
assert None is await_(ses.receive(loop.time() + 0.1))
# Transfer-ID timeout reconfiguration.
ses.transfer_id_timeout = 3.0
with pytest.raises(ValueError):
ses.transfer_id_timeout = -0.0
assert ses.transfer_id_timeout == pytest.approx(3.0)
assert inf_a.transfer_id_timeout == pytest.approx(3.0)
assert inf_a.transfer_id_timeout == pytest.approx(3.0)
# Inferior removal resets the state of the deduplicator.
ses._close_inferior(0) # pylint: disable=protected-access
ses._close_inferior(1) # Out of range, no effect. # pylint: disable=protected-access
assert ses.inferiors == [inf_b]
assert await_(
tx_b.send(
Transfer(
timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=1,
fragmented_payload=[memoryview(b"acc")],
),
loop.time() + 1.0,
))
tr = await_(ses.receive(loop.time() + 0.1))
assert isinstance(tr, RedundantTransferFrom)
assert ts.monotonic <= tr.timestamp.monotonic <= (loop.time() + 1e-3)
assert tr.priority == Priority.HIGH
assert tr.transfer_id == 1
assert tr.fragmented_payload == [memoryview(b"acc")]
assert tr.inferior_session == inf_b
# Stats check.
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=4,
frames=inf_b.sample_statistics().frames,
payload_bytes=12,
errors=0,
drops=0,
inferiors=[
inf_b.sample_statistics(),
],
)
# Closure.
assert not is_retired
ses.close()
assert is_retired
is_retired = False
ses.close()
assert not is_retired
assert not ses.inferiors
with pytest.raises(ResourceClosedError):
await_(ses.receive(0))
async def _unittest_redundant_output() -> None:
loop = asyncio.get_event_loop()
spec = pyuavcan.transport.OutputSessionSpecifier(
pyuavcan.transport.MessageDataSpecifier(4321), None)
spec_rx = pyuavcan.transport.InputSessionSpecifier(spec.data_specifier,
None)
meta = pyuavcan.transport.PayloadMetadata(30 * 1024 * 1024)
ts = Timestamp.now()
is_retired = False
def retire() -> None:
nonlocal is_retired
is_retired = True
ses = RedundantOutputSession(spec, meta, finalizer=retire)
assert not is_retired
assert ses.specifier is spec
assert ses.payload_metadata is meta
assert not ses.inferiors
assert ses.sample_statistics() == RedundantSessionStatistics()
# Transmit with an empty set of inferiors.
time_before = loop.time()
assert not await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=1234567890,
fragmented_payload=[memoryview(b"abc")],
),
loop.time() + 2.0,
))
assert 1.0 < loop.time(
) - time_before < 5.0, "The method should have returned in about two seconds."
assert ses.sample_statistics() == RedundantSessionStatistics(drops=1, )
# Create inferiors.
tr_a = LoopbackTransport(111)
tr_b = LoopbackTransport(111)
inf_a = tr_a.get_output_session(spec, meta)
inf_b = tr_b.get_output_session(spec, meta)
rx_a = tr_a.get_input_session(spec_rx, meta)
rx_b = tr_b.get_input_session(spec_rx, meta)
# Begin transmission, then add an inferior while it is in progress.
async def add_inferior(inferior: pyuavcan.transport.OutputSession) -> None:
print("sleeping before adding the inferior...")
await asyncio.sleep(2.0)
print("adding the inferior...")
ses._add_inferior(inferior) # pylint: disable=protected-access
print("inferior has been added.")
assert await (asyncio.gather(
# Start transmission here. It would stall for up to five seconds because no inferiors.
ses.send(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=9876543210,
fragmented_payload=[memoryview(b"def")],
),
loop.time() + 5.0,
),
# While the transmission is stalled, add one inferior with a 2-sec delay. It will unlock the stalled task.
add_inferior(inf_a),
# Then make sure that the transmission has actually taken place about after two seconds from the start.
)), "Transmission should have succeeded"
assert 1.0 < loop.time(
) - time_before < 5.0, "The method should have returned in about two seconds."
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=1,
frames=1,
payload_bytes=3,
drops=1,
inferiors=[
SessionStatistics(
transfers=1,
frames=1,
payload_bytes=3,
),
],
)
tf_rx = await (rx_a.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 9876543210
assert tf_rx.fragmented_payload == [memoryview(b"def")]
assert None is await (rx_b.receive(loop.time() + 0.1))
# Enable feedback.
feedback: typing.List[RedundantFeedback] = []
ses.enable_feedback(feedback.append)
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.LOW,
transfer_id=555555555555,
fragmented_payload=[memoryview(b"qwerty")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=2,
frames=2,
payload_bytes=9,
drops=1,
inferiors=[
SessionStatistics(
transfers=2,
frames=2,
payload_bytes=9,
),
],
)
assert len(feedback) == 1
assert feedback[0].inferior_session is inf_a
assert feedback[0].original_transfer_timestamp == ts
assert ts.system <= feedback[
0].first_frame_transmission_timestamp.system <= time.time()
assert ts.monotonic <= feedback[
0].first_frame_transmission_timestamp.monotonic <= time.monotonic()
assert isinstance(feedback[0].inferior_feedback, LoopbackFeedback)
feedback.pop()
assert not feedback
tf_rx = await (rx_a.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 555555555555
assert tf_rx.fragmented_payload == [memoryview(b"qwerty")]
assert None is await (rx_b.receive(loop.time() + 0.1))
# Add a new inferior and ensure that its feedback is auto-enabled!
ses._add_inferior(inf_b) # pylint: disable=protected-access
assert ses.inferiors == [
inf_a,
inf_b,
]
# Double-add has no effect.
ses._add_inferior(inf_b) # pylint: disable=protected-access
assert ses.inferiors == [
inf_a,
inf_b,
]
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.FAST,
transfer_id=777777777777,
fragmented_payload=[memoryview(b"fgsfds")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=3,
frames=3 + 1,
payload_bytes=15,
drops=1,
inferiors=[
SessionStatistics(
transfers=3,
frames=3,
payload_bytes=15,
),
SessionStatistics(
transfers=1,
frames=1,
payload_bytes=6,
),
],
)
assert len(feedback) == 2
feedback.sort(key=lambda x: x.inferior_session is not inf_a
) # Ensure consistent ordering
assert feedback[0].inferior_session is inf_a
assert feedback[0].original_transfer_timestamp == ts
assert ts.system <= feedback[
0].first_frame_transmission_timestamp.system <= time.time()
assert ts.monotonic <= feedback[
0].first_frame_transmission_timestamp.monotonic <= time.monotonic()
assert isinstance(feedback[0].inferior_feedback, LoopbackFeedback)
feedback.pop(0)
assert len(feedback) == 1
assert feedback[0].inferior_session is inf_b
assert feedback[0].original_transfer_timestamp == ts
assert ts.system <= feedback[
0].first_frame_transmission_timestamp.system <= time.time()
assert ts.monotonic <= feedback[
0].first_frame_transmission_timestamp.monotonic <= time.monotonic()
assert isinstance(feedback[0].inferior_feedback, LoopbackFeedback)
feedback.pop()
assert not feedback
tf_rx = await (rx_a.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 777777777777
assert tf_rx.fragmented_payload == [memoryview(b"fgsfds")]
tf_rx = await (rx_b.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 777777777777
assert tf_rx.fragmented_payload == [memoryview(b"fgsfds")]
# Remove the first inferior.
ses._close_inferior(0) # pylint: disable=protected-access
assert ses.inferiors == [inf_b]
ses._close_inferior(1) # Out of range, no effect. # pylint: disable=protected-access
assert ses.inferiors == [inf_b]
# Make sure the removed inferior has been closed.
assert not tr_a.output_sessions
# Transmission test with the last inferior.
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.HIGH,
transfer_id=88888888888888,
fragmented_payload=[memoryview(b"hedgehog")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics().transfers == 4
# We don't check frames because this stat metric is computed quite clumsily atm, this may change later.
assert ses.sample_statistics().payload_bytes == 23
assert ses.sample_statistics().drops == 1
assert ses.sample_statistics().inferiors == [
SessionStatistics(
transfers=2,
frames=2,
payload_bytes=14,
),
]
assert len(feedback) == 1
assert feedback[0].inferior_session is inf_b
assert feedback[0].original_transfer_timestamp == ts
assert ts.system <= feedback[
0].first_frame_transmission_timestamp.system <= time.time()
assert ts.monotonic <= feedback[
0].first_frame_transmission_timestamp.monotonic <= time.monotonic()
assert isinstance(feedback[0].inferior_feedback, LoopbackFeedback)
feedback.pop()
assert not feedback
assert None is await (rx_a.receive(loop.time() + 1))
tf_rx = await (rx_b.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 88888888888888
assert tf_rx.fragmented_payload == [memoryview(b"hedgehog")]
# Disable the feedback.
ses.disable_feedback()
# A diversion - enable the feedback in the inferior and make sure it's not propagated.
ses._enable_feedback_on_inferior(inf_b) # pylint: disable=protected-access
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=666666666666666,
fragmented_payload=[memoryview(b"horse")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics().transfers == 5
# We don't check frames because this stat metric is computed quite clumsily atm, this may change later.
assert ses.sample_statistics().payload_bytes == 28
assert ses.sample_statistics().drops == 1
assert ses.sample_statistics().inferiors == [
SessionStatistics(
transfers=3,
frames=3,
payload_bytes=19,
),
]
assert not feedback
assert None is await (rx_a.receive(loop.time() + 1))
tf_rx = await (rx_b.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 666666666666666
assert tf_rx.fragmented_payload == [memoryview(b"horse")]
# Retirement.
assert not is_retired
ses.close()
assert is_retired
# Make sure the inferiors have been closed.
assert not tr_a.output_sessions
assert not tr_b.output_sessions
# Idempotency.
is_retired = False
ses.close()
assert not is_retired
# Use after close.
with pytest.raises(ResourceClosedError):
await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=1111111111111,
fragmented_payload=[memoryview(b"cat")],
),
loop.time() + 1.0,
))
assert None is await (rx_a.receive(loop.time() + 1))
assert None is await (rx_b.receive(loop.time() + 1))
await asyncio.sleep(2.0)
async def _unittest_redundant_output_exceptions(caplog: typing.Any) -> None:
loop = asyncio.get_event_loop()
spec = pyuavcan.transport.OutputSessionSpecifier(
pyuavcan.transport.MessageDataSpecifier(4321), None)
spec_rx = pyuavcan.transport.InputSessionSpecifier(spec.data_specifier,
None)
meta = pyuavcan.transport.PayloadMetadata(30 * 1024 * 1024)
ts = Timestamp.now()
is_retired = False
def retire() -> None:
nonlocal is_retired
is_retired = True
ses = RedundantOutputSession(spec, meta, finalizer=retire)
assert not is_retired
assert ses.specifier is spec
assert ses.payload_metadata is meta
assert not ses.inferiors
assert ses.sample_statistics() == RedundantSessionStatistics()
tr_a = LoopbackTransport(111)
tr_b = LoopbackTransport(111)
inf_a = tr_a.get_output_session(spec, meta)
inf_b = tr_b.get_output_session(spec, meta)
rx_a = tr_a.get_input_session(spec_rx, meta)
rx_b = tr_b.get_input_session(spec_rx, meta)
ses._add_inferior(inf_a) # pylint: disable=protected-access
ses._add_inferior(inf_b) # pylint: disable=protected-access
# Transmission with exceptions.
# If at least one transmission succeeds, the call succeeds.
with caplog.at_level(logging.CRITICAL, logger=__name__):
inf_a.exception = RuntimeError("INTENDED EXCEPTION")
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.FAST,
transfer_id=444444444444,
fragmented_payload=[memoryview(b"INTENDED EXCEPTION")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=1,
frames=1,
payload_bytes=len("INTENDED EXCEPTION"),
errors=0,
drops=0,
inferiors=[
SessionStatistics(
transfers=0,
frames=0,
payload_bytes=0,
),
SessionStatistics(
transfers=1,
frames=1,
payload_bytes=len("INTENDED EXCEPTION"),
),
],
)
assert None is await (rx_a.receive(loop.time() + 1))
tf_rx = await (rx_b.receive(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 444444444444
assert tf_rx.fragmented_payload == [memoryview(b"INTENDED EXCEPTION")]
# Transmission timeout.
# One times out, one raises an exception --> the result is timeout.
inf_b.should_timeout = True
assert not await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.FAST,
transfer_id=2222222222222,
fragmented_payload=[memoryview(b"INTENDED EXCEPTION")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics().transfers == 1
assert ses.sample_statistics().payload_bytes == len(
"INTENDED EXCEPTION")
assert ses.sample_statistics().errors == 0
assert ses.sample_statistics().drops == 1
assert None is await (rx_a.receive(loop.time() + 1))
assert None is await (rx_b.receive(loop.time() + 1))
# Transmission with exceptions.
# If all transmissions fail, the call fails.
inf_b.exception = RuntimeError("INTENDED EXCEPTION")
with pytest.raises(RuntimeError, match="INTENDED EXCEPTION"):
assert await (ses.send(
Transfer(
timestamp=ts,
priority=Priority.FAST,
transfer_id=3333333333333,
fragmented_payload=[memoryview(b"INTENDED EXCEPTION")],
),
loop.time() + 1.0,
))
assert ses.sample_statistics().transfers == 1
assert ses.sample_statistics().payload_bytes == len(
"INTENDED EXCEPTION")
assert ses.sample_statistics().errors == 1
assert ses.sample_statistics().drops == 1
assert None is await (rx_a.receive(loop.time() + 1))
assert None is await (rx_b.receive(loop.time() + 1))
# Retirement.
assert not is_retired
ses.close()
assert is_retired
# Make sure the inferiors have been closed.
assert not tr_a.output_sessions
assert not tr_b.output_sessions
# Idempotency.
is_retired = False
ses.close()
assert not is_retired
await asyncio.sleep(2.0)
def _unittest_redundant_output_exceptions() -> None:
import pytest
from pyuavcan.transport import Transfer, Timestamp, Priority, SessionStatistics
from pyuavcan.transport import TransferFrom
from pyuavcan.transport.loopback import LoopbackTransport
loop = asyncio.get_event_loop()
await_ = loop.run_until_complete
spec = pyuavcan.transport.OutputSessionSpecifier(pyuavcan.transport.MessageDataSpecifier(4321), None)
spec_rx = pyuavcan.transport.InputSessionSpecifier(spec.data_specifier, None)
meta = pyuavcan.transport.PayloadMetadata(0x_deadbeef_deadbeef, 30 * 1024 * 1024)
ts = Timestamp.now()
is_retired = False
def retire() -> None:
nonlocal is_retired
is_retired = True
ses = RedundantOutputSession(spec, meta, loop=loop, finalizer=retire)
assert not is_retired
assert ses.specifier is spec
assert ses.payload_metadata is meta
assert not ses.inferiors
assert ses.sample_statistics() == RedundantSessionStatistics()
tr_a = LoopbackTransport(111)
tr_b = LoopbackTransport(111)
inf_a = tr_a.get_output_session(spec, meta)
inf_b = tr_b.get_output_session(spec, meta)
rx_a = tr_a.get_input_session(spec_rx, meta)
rx_b = tr_b.get_input_session(spec_rx, meta)
# noinspection PyProtectedMember
ses._add_inferior(inf_a)
# noinspection PyProtectedMember
ses._add_inferior(inf_b)
# Transmission with exceptions.
# If at least one transmission succeeds, the call succeeds.
inf_a.exception = RuntimeError('EXCEPTION SUKA')
assert await_(ses.send_until(
Transfer(timestamp=ts,
priority=Priority.FAST,
transfer_id=444444444444,
fragmented_payload=[memoryview(b'exception suka')]),
loop.time() + 1.0
))
assert ses.sample_statistics() == RedundantSessionStatistics(
transfers=1,
frames=1,
payload_bytes=len('exception suka'),
errors=0,
drops=0,
inferiors=[
SessionStatistics(
transfers=0,
frames=0,
payload_bytes=0,
),
SessionStatistics(
transfers=1,
frames=1,
payload_bytes=len('exception suka'),
),
],
)
assert None is await_(rx_a.receive_until(loop.time() + 1))
tf_rx = await_(rx_b.receive_until(loop.time() + 1))
assert isinstance(tf_rx, TransferFrom)
assert tf_rx.transfer_id == 444444444444
assert tf_rx.fragmented_payload == [memoryview(b'exception suka')]
# Transmission timeout.
# One times out, one raises an exception --> the result is timeout.
inf_b.should_timeout = True
assert not await_(ses.send_until(
Transfer(timestamp=ts,
priority=Priority.FAST,
transfer_id=2222222222222,
fragmented_payload=[memoryview(b'exception suka')]),
loop.time() + 1.0
))
assert ses.sample_statistics().transfers == 1
assert ses.sample_statistics().payload_bytes == len('exception suka')
assert ses.sample_statistics().errors == 0
assert ses.sample_statistics().drops == 1
assert None is await_(rx_a.receive_until(loop.time() + 1))
assert None is await_(rx_b.receive_until(loop.time() + 1))
# Transmission with exceptions.
# If all transmissions fail, the call fails.
inf_b.exception = RuntimeError('EXCEPTION SUKA')
with pytest.raises(RuntimeError, match='EXCEPTION SUKA'):
assert await_(ses.send_until(
Transfer(timestamp=ts,
priority=Priority.FAST,
transfer_id=3333333333333,
fragmented_payload=[memoryview(b'exception suka')]),
loop.time() + 1.0
))
assert ses.sample_statistics().transfers == 1
assert ses.sample_statistics().payload_bytes == len('exception suka')
assert ses.sample_statistics().errors == 1
assert ses.sample_statistics().drops == 1
assert None is await_(rx_a.receive_until(loop.time() + 1))
assert None is await_(rx_b.receive_until(loop.time() + 1))
# Retirement.
assert not is_retired
ses.close()
assert is_retired
# Make sure the inferiors have been closed.
assert not tr_a.output_sessions
assert not tr_b.output_sessions
# Idempotency.
is_retired = False
ses.close()
assert not is_retired