add test with multiple subscribers

messaging/impl_zmq.cc

@@ -89,7 +89,7 @@ Message * ZMQSubSocket::receive(bool non_blocking){
     // Make a copy to ensure the data is aligned
     r = new ZMQMessage;
     r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  } 
+  }
 
   zmq_msg_close(&msg);
   return r;

messaging/messaging.pxd

@@ -39,4 +39,4 @@ cdef extern from "messaging.hpp":
     @staticmethod
     Poller * create()
     void registerSocket(SubSocket *)
-    vector[SubSocket*] poll(int)
+    vector[SubSocket*] poll(int) nogil

messaging/messaging_pyx.pyx

@@ -19,6 +19,10 @@ cdef class Context:
   def  __cinit__(self):
     self.context = cppContext.create()
 
+  def term(self):
+    del self.context
+    self.context = NULL
+
   def __dealloc__(self):
     pass
     # Deleting the context will hang if sockets are still active
@@ -43,8 +47,11 @@ cdef class Poller:
 
   def poll(self, timeout):
     sockets = []
+    cdef int t = timeout
+
+    with nogil:
+        result = self.poller.poll(t)
 
-    result = self.poller.poll(timeout)
     for s in result:
         socket = SubSocket()
         socket.setPtr(s)

messaging/tests/test_poller.py

@@ -1,24 +1,24 @@
 import unittest
+import os
 import time
 import cereal.messaging as messaging
 
-from multiprocessing import Process, Pipe
+import concurrent.futures
 
 
-def poller(pipe):
+def poller():
   context = messaging.Context()
 
+  p = messaging.Poller()
+
   sub = messaging.SubSocket()
   sub.connect(context, 'controlsState')
-
-  p = messaging.Poller()
   p.registerSocket(sub)
 
-  while True:
-    pipe.recv()
+  socks = p.poll(1000)
+  r = [s.receive(non_blocking=True) for s in socks]
 
-    socks = p.poll(1000)
-    pipe.send([s.receive(non_blocking=True) for s in socks])
+  return r
 
 
 class TestPoller(unittest.TestCase):
@@ -28,19 +28,44 @@ def test_poll_once(self):
     pub = messaging.PubSocket()
     pub.connect(context, 'controlsState')
 
-    pipe, pipe_child = Pipe()
-    proc = Process(target=poller, args=(pipe_child,))
-    proc.start()
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+
+      # Send message
+      pub.send("a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    self.assertEqual(result, [b"a"])
+
+  @unittest.skipIf(os.environ.get('MSGQ'), "fails under msgq")
+  def test_poll_and_create_many_subscribers(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
 
-    time.sleep(.1)
+      time.sleep(0.1)  # Slow joiner syndrome
+      c = messaging.Context()
+      for _ in range(10):
+        messaging.SubSocket().connect(c, 'controlsState')
 
-    # Start poll
-    pipe.send("go")
+      # Send message
+      pub.send("a")
 
-    # Send message
-    pub.send("a")
+      # Wait for poll result
+      result = poll.result()
 
-    result = pipe.recv()
-    proc.kill()
+    del pub
+    context.term()
 
     self.assertEqual(result, [b"a"])