def chassis_state_change_echo(container):
result = Chassis.Exec(container).rostopic_echo(
topicName='/chassis/state_change')
state = re.search('.+(\d+)', str(result)).group(1)
#state_str=re.search('data:.+(\d+)', str(result)).group()#add_by_xxq
#state = re.search('.+(\d+)', str(state_str)).group(1)#add_by_xxq
return int(state)
def chassis_alarm_echo(container):
'''
返回chassis_alarm的一次结果,类型为字典
header:
seq: 23703
stamp:
secs: 2066
nsecs: 514321000
frame_id: ''
system_alarm: 32768
motor_alarm: 0
motor_driver_alarm: 0
external_sensor_alarm: 0
internal_sensor_alarm: 0
power_alarm: 0
'''
time.sleep(2)
result = str(Chassis.Exec(container).rostopic_echo(topicName='/chassis_alarm'))
output = {}
List = result.split("\\n")
for Line in List:
line = Line.strip()
if ": " in line:
output[line.split(': ')[0]] = line.split(': ')[1]
return output
def test_025(self):
ip = '192.168.0.179'
self.TX2 = TX2.TX2(ip)
containers = self.TX2.Containers()
self.container = self.TX2.Containers()['chassis_serial']
self.TX2.Images()
if len(containers) != 13:
raise Exception('docker未全部启动')
if not Chassis.Exec(self.container).roscore_check():
raise Exception('roscore未自动启动')
# data_value = "'set_env cpu_usage 25'"
# data = '"data: %s"' % data_value
# Chassis.Exec(self.container).rostopic_pub(topic='/chassis/cmd_req ', msg_type='std_msgs/String ', args=data)
#
# result = Chassis.Exec(self.container).cmd_res_vf(isSET=True)
# if result != '25':
# raise Exception('参数设置日志有误')
#
# result = Chassis.Exec(self.container).rostopic_echo(topicName='/chassis_state')
# cpu_usage = re.search('cpu_usage:\s(\d+)', result).group(1)
# if cpu_usage != '25':
# raise Exception('预期值为25，实际值为' + cpu_usage)
#
# data_value = "'del_env cpu_usage'"
# data = '"data: %s"' % data_value
# Chassis.Exec(self.container).rostopic_pub(topic='/chassis/cmd_req ', msg_type='std_msgs/String ', args=data)
#
# if not Chassis.Exec(self.container).cmd_res_vf(isSET=False):
# raise Exception('操作日志有误')
print 'over'
def collect_log(container, logpath):
data = r'''"data: '{\"message_id\":123441,\"from\":\"communication\",\"to\":\"control\",\"log_collect\":{
\"collect_target\": \"vehicle\",\"jwt\": \"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJleHAiOjE4NzYyODI5NzIsImp0aSI6ImJkNWNkMGI1MDhlYTA4ZWUiLCJpYXQiOjE1NjA5MjI5NzJ9.1HSPUz2fE58fxPRBaxx4AhPdmTgZWtAvMyd6SvLcQeY\",
\"upload_status\": \"22\",\"access_key\": \"AKIAO2DNISXSC7YGDAQA--\",\"secret_key\": \"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\",\"token\": \"XXX\",\"reply_url\": \"https://dev-logcull.goldenridge.cn/log-collect/v1/tx2UploadReply--\",
\"start_time\": \"2019-5-1\",\"end_time\": \"2019-8-1\",\"vehicle_log_type\": \"log\",\"software_attribute\": \"all\",
\"collect_num\": \"2\",\"module\": [\"chassis\"]}}'"'''
File = os.path.join('/opt/routineCar/log/chassis',
time.strftime('%Y-%m-%d', time.localtime()) + '.txt')
os.system('rm -rf %s' % File)
stop_ftp_task(container)
Chassis.Exec(container).rostopic_pub(topic='/communication/control',
msg_type='std_msgs/String ',
args=data)
for i in range(10):
if os.path.isfile(File):
break
else:
time.sleep(3)
if i == 9:
raise Exception('采集日志失败')
if not os.path.isfile(logpath):
raise Exception('初始日志不存在')
os.system('grep -xvFf %s %s | tee %s' % (logpath, File, logpath))
time.sleep(2)
return logpath
def chassis_state_echo(container):
'''
返回chassis_state的一次结果,类型为字典
seq: 1251
secs: 10290
nsecs: 199577000
frame_id: ''
stack_sensor: 137
stack_control: 137
stack_comm: 345
stack_rec: [165, 697, 0, 0, 0]
cpu_usage: 25
wdg_state: 0
bms: 0
motor: 0
motor_driver: 0
joystick: 0
imu: 0
ultrasonic: 8152
weighing: 0
flash: 0
other_res: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
'''
result = str(
Chassis.Exec(container).rostopic_echo(topicName='/chassis_state'))
output = {}
List = result.split("\\n")
for Line in List:
line = Line.strip()
if ": " in line:
output[line.split(': ')[0]] = line.split(': ')[1]
return output
def tp_main_get(container,eTP_num):
'''
通过/chassis/cmd_req查询TP点状态,例如：
rostopic pub -1 /chassis/cmd_req std_msgs/String "data: 'tp_main get_tp 5'"
'''
data_value = "tp_main get_tp %s" %eTP_num
data = '"data: %s"' % data_value
Chassis.Exec(container).rostopic_pub(topic='/chassis/cmd_req',msg_type='std_msgs/String ',args=data)
def tp_main_set(container,eTP_num,switch):
'''
通过/chassis/cmd_req设置TP点,例如：
rostopic pub -1 /chassis/cmd_req std_msgs/String "data: 'tp_main set_tp 5 1'"
'''
data_value = "tp_main set_tp %s %s" %(eTP_num,switch)
data = '"data: %s"' % data_value
Chassis.Exec(container).rostopic_pub(topic='/chassis/cmd_req',msg_type='std_msgs/String ',args=data)
def alarm_mask(container, id=0):
'''
rostopic pub -1 /alarm_mask std_msgs/UInt32 "data: 0"
按ID屏蔽告警，默认0屏蔽所有告警
'''
Chassis.Exec(container).rostopic_pub(topic='alarm_mask',
msg_type='std_msgs/UInt32',
args='"data: %d"' % id)
def stop_ftp_task(container):
data = r'''"data: '{\"message_id\":123441,\"from\":\"communication\",\"to\":\"control\",\"log_collect\":{
\"collect_target\": \"vehicle\",\"jwt\": \"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJleHAiOjE4NzYyODI5NzIsImp0aSI6ImJkNWNkMGI1MDhlYTA4ZWUiLCJpYXQiOjE1NjA5MjI5NzJ9.1HSPUz2fE58fxPRBaxx4AhPdmTgZWtAvMyd6SvLcQeY\",
\"upload_status\": \"stop\",\"access_key\": \"AKIAO2DNISXSC7YGDAQA--\",\"secret_key\": \"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\",\"token\": \"XXX\",\"reply_url\": \"https://dev-logcull.goldenridge.cn/log-collect/v1/tx2UploadReply--\",
\"start_time\": \"2019-5-1\",\"end_time\": \"2019-8-1\",\"vehicle_log_type\": \"log\",\"software_attribute\": \"all\",
\"collect_num\": \"2\",\"module\": [\"chassis\"]}}'"'''
Chassis.Exec(container).rostopic_pub(topic='/communication/control',
msg_type='std_msgs/String ',
args=data)
def self_check_service(container):
'''
rosservice rosservice call /self_check "req: '{\"check_mode\"}'"
对影响状态机的自检结果解析,返回告警列表
'''
service = '/self_check'
args = r'''"req: '{\"check_mode\":1}'"'''
result = Chassis.Exec(container).rosservice_call(service, args).decode()
idList = re.findall('\d{7,}', result)
return idList
def log_sd_clean(container):
'''
通过/chassis/cmd_req对日志进行[<clean>]操作，例如：
rostopic pub -1 /chassis/cmd_req std_msgs/String "data: 'log_sd clean'"
'''
data_value = "log_sd clean"
data = '"data: %s"' % data_value
Chassis.Exec(container).rostopic_pub(topic='/chassis/cmd_req',
msg_type='std_msgs/String ',
args=data)
def recover_chassis_remap(container):
'''
恢复remap下位机传感器的/imu,/odom,/ultrasound,/chassis/control_info话题
'''
file = '/opt/routineCar/src/platform_vehicle/models/chassis_serial/launch/node.launch'
content = '"<launch> \
<node pkg=\\"chassis_serial\\" type=\\"chassis_serial_node\\" name=\\"chassis_serial_node\\" respawn =\\"true\\"> \
<param name=\\"port\\" value=\\"/dev/tty_chassis\\"/> \
</node> \
</launch>"'
Chassis.Exec(container).popen("bash -c 'echo %s > %s'" % (content, file))
def communication_alarm_echo(container):
'''
查看上报给pad的最新一次告警.返回字典，包含模块，告警id，type和告警内容信息
type为0表示注入，1表示恢复
'''
result = Chassis.Exec(container).rostopic_echo(
topicName='/communication/alarm').decode().replace('\\', '')
info = {}
info['id'] = re.search('id\":(\d+)', result).group(1)
info['type'] = re.search('type\":(\d+)', result).group(1)
info['content'] = re.search('content\":\"(.+?)\"', result).group(1)
info['module'] = re.search('module\":\"(\w+)', result).group(1)
return info
def alarm_command(container, id=0, mask_state='true', check_mask='true'):
'''
rosservice call /alarm_command "req: '{\"alarm_command\":{\"id\":33649089,\"mask_state\":true,\"check_mask\":true}}'"
check_mask:为True时查询已屏蔽的告警列表。为False时才识别告警ID和屏蔽恢复动作
id:告警ID
mask_state：为'true'时屏蔽，'false'为恢复
'''
service = '/alarm_command'
args = r'''"req: '{\"alarm_command\":{\"id\":%d,\"mask_state\":%s,\"check_mask\":%s}}'"''' % (
id, mask_state, check_mask)
result = Chassis.Exec(container).rosservice_call(service, args).decode()
if check_mask == True:
idList = re.findall('\d{7,}', result)
return idList
def default_state():
logging.info('前置步骤：所有docker均已启动。roscore已运行')
tx2 = TX2.TX2(ip)
containers = tx2.Containers()
container = tx2.Containers()['chassis_serial']
tx2.Images()
if len(containers) != 11:
raise Exception('docker未全部启动')
if not Chassis.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
logging.info('1、查看当前状态/chassis_state' '//各项均为默认值（无故障切换状态）')
result = chassis_state_echo(container=container)
if int(result['cpu_usage']) >= 50:
raise Exception('cpu占用超过80%')
if result['wdg_state'] != '0':
raise Exception('看门狗状态异常')
if result['bms'] != '0':
raise Exception('电源板异常')
if result['motor'] != '0':
raise Exception('电机异常')
if result['motor_driver'] != '0':
raise Exception('电驱异常')
if result['joystick'] != '0':
raise Exception('摇杆异常')
if result['imu'] != '0':
raise Exception('imu异常')
if result['ultrasonic'] != '0':
raise Exception('超声波异常')
if result['ultrasonic'] != '0':
raise Exception('超声波异常')
if result['weighing'] != '0':
raise Exception('重力系统异常')
if result['flash'] != '0':
raise Exception('flash异常')
other_res = re.match('\[(\d+),\s(\d+),\s(\d+),\s(\d+),\s0',
result['other_res']).groups()
if other_res[0] != '0':
raise Exception('网络通信异常')
if other_res[1] != '0':
raise Exception('led通信异常')
if int(other_res[2]) >= 80:
raise Exception('cpu温度过高')
if int(other_res[3]) >= 80:
raise Exception('imu温度过高')
logging.info('检查完成，下位机各项指标均正常')
print(result)
def chassis_control_state_pub(container, operation):
'''
操作operation对应的命令
0 上锁..............................................lock
1 解锁..............................................unlock
2 停车..............................................stop
3 手动驾驶..........................................manual
4 自动驾驶..........................................auto
5 故障..............................................fault
6 故障恢复（故障->锁车）............................fault_rec
'''
OperationList = [
'lock', 'unlock', 'stop', 'manual', 'auto', 'fault', 'fault_rec'
]
data = OperationList.index(operation)
msg = '"data: %s"' % str(data)
Chassis.Exec(container).rostopic_pub(topic='/chassis/control_state ',
msg_type='std_msgs/UInt8 ',
args=msg)
TestSuite = os.path.basename(__file__)
logpath = path + TestSuite.split('.')[0] + time.strftime(
"_%Y-%m-%d_%H-%M-%S.log", time.localtime())
logging.basicConfig(
level=logging.INFO,
format=
'%(levelname)s: %(message)s- %(filename)s[line:%(lineno)d]-%(asctime)s')
logging.info('前置步骤：所有docker均已启动。roscore已运行')
tx2 = TX2.TX2(ip)
containers = tx2.Containers()
container = tx2.Containers()['chassis_serial']
if len(containers) != 11:
raise Exception('docker未全部启动')
if not Chassis.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
def setup_module():
# 清除日志
init_collect_log(container, logpath)
# 检查是否无告警
result = chassis_alarm_echo(container)
for key in result.keys():
if 'alarm' in key and result[key] != '0':
raise Exception('存在异常告警')
def teardown_module():
# 恢复，停车落锁
# coding:utf-8
import TX2
from Command.Container import Chassis
import re
ip = '192.168.0.179'
TX2 = TX2.TX2(ip)
containers = TX2.Containers()
container = TX2.Containers()['chassis_serial']
TX2.Images()
if len(containers) != 13:
raise Exception('docker未全部启动')
if not Chassis.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
data_value = "'set_env motor_state 1'"
data = '"data: %s"' % data_value
Chassis.Exec(container).rostopic_pub(topic='/chassis/cmd_req ',
msg_type='std_msgs/String ',
args=data)
result = Chassis.Exec(container).cmd_res_vf(isSET=True)
if result != '1':
raise Exception('参数设置日志有误')
result = Chassis.Exec(container).rostopic_echo(topicName='/chassis_state')
motor = re.search('motor:\s(\d+)', result).group(1)
if motor != '1':
raise Exception('预期值为1，实际值为' + motor)
data_value = "'del_env motor_state'"
def test_answer(self):
tx2 = TX2.TX2(ip)
container = tx2.Containers()['chassis_serial']
if not Chassis.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
