Code:

    import asyncio as a
    import socket as s

    @a.coroutine
    def coro():
        s1, s2 = s.socketpair()
        s1.setblocking(False)
        s2.setblocking(False)
        try:
            yield from a.wait_for(loop.sock_recv(s2, 1), 1)
        except a.TimeoutError:
            pass
        yield from loop.sock_sendall(s1, b'\x00')
        yield
        s1.close()
        s2.close()

    loop = a.get_event_loop()
    loop.run_until_complete(coro())

Result:

    Exception in callback BaseSelectorEventLoop._sock_recv(<Future cancelled>, True, <socket.socke...2049, proto=0>, 1)
    handle: <Handle BaseSelectorEventLoop._sock_recv(<Future cancelled>, True, <socket.socke...2049, proto=0>, 1)>
    Traceback (most recent call last):
      File "/usr/lib/python3.6/asyncio/events.py", line 127, in _run
        self._callback(*self._args)
      File "/usr/lib/python3.6/asyncio/selector_events.py", line 378, in _sock_recv
        self.remove_reader(fd)
      File "/usr/lib/python3.6/asyncio/selector_events.py", line 342, in remove_reader
        return self._remove_reader(fd)
      File "/usr/lib/python3.6/asyncio/selector_events.py", line 279, in _remove_reader
        key = self._selector.get_key(fd)
      File "/usr/lib/python3.6/selectors.py", line 189, in get_key
        return mapping[fileobj]
      File "/usr/lib/python3.6/selectors.py", line 70, in __getitem__
        fd = self._selector._fileobj_lookup(fileobj)
      File "/usr/lib/python3.6/selectors.py", line 224, in _fileobj_lookup
        return _fileobj_to_fd(fileobj)
      File "/usr/lib/python3.6/selectors.py", line 41, in _fileobj_to_fd
        raise ValueError("Invalid file descriptor: {}".format(fd))
    ValueError: Invalid file descriptor: -1