cereal: gc dead ZMQ branches in tests

openpilot/cereal/messaging/tests/test_messaging.py

@@ -1,4 +1,3 @@
-import os
 import capnp
 import multiprocessing
 import numbers
@@ -6,7 +5,6 @@ import random
 import threading
 import time
 from openpilot.common.parameterized import parameterized
-import pytest
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -24,10 +22,6 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -53,16 +47,6 @@ def delayed_send(delay, sock, dat):
 
 
 class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -89,7 +73,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -110,7 +93,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -129,7 +111,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -142,12 +123,10 @@ class TestMessaging:
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -165,16 +144,13 @@ class TestMessaging:
     sock_timeout = 0.1
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
 
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
+    # wait 5 socket timeouts and make sure it's still retrying
+    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    p.start()
+    time.sleep(sock_timeout*5)
+    assert p.is_alive()
+    p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -5,18 +5,12 @@ from collections.abc import Sized
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
+                                                  random_bytes, random_carstate, assert_carstate
 from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -43,7 +37,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -55,7 +48,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -126,11 +118,6 @@ class TestSubMaster:
 
 class TestPubMaster:
 
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
-
   def test_init(self):
     messaging.PubMaster(events)
 
@@ -138,7 +125,6 @@ class TestPubMaster:
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]: