def test_eTP_008(self):
logging.info('1、注入8号TP点，模拟控制任务剩余堆栈量为49'
'//产生控制堆栈异常告警system_alarm为2，下位机状态显示堆栈剩余量为49')
# 检查告警为bit1
tp_main_set(self.container,'8','1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '2':
raise Exception('告警不正确')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if result['stack_control'] != '49':
raise Exception('堆栈剩余量不为49')
logging.info('2、取消TP点'
'//告警恢复system_alarm为0，且下位机状态堆栈剩余量不为49')
# 检查告警恢复
tp_main_set(self.container,'8','0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if result['stack_control'] == '49':
raise Exception('堆栈剩余量未恢复')
def test_eTP_007(self):
logging.info('1、注入7号TP点，模拟传感器任务剩余堆栈量为49'
'//产生传感器堆栈异常告警system_alarm为1，下位机状态显示堆栈剩余量为49')
# 检查告警为bit0
tp_main_set(self.container, '7', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '1':
raise Exception('告警不正确')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if result['stack_sensor'] != '49':
raise Exception('堆栈剩余量不为49')
logging.info('2、取消TP点' '//告警恢复system_alarm为0，且下位机状态堆栈剩余量不为49')
# 检查告警恢复
tp_main_set(self.container, '7', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if result['stack_sensor'] == '49':
raise Exception('堆栈剩余量未恢复')
def test_eTP_055(self):
logging.info(
'1、注入imu温度高异常TP点'
'//产生正确告警，internal_sensor_alarm为16，/chassis_state状态imu为16')
tp_main_set(self.container, '55', '1')
result = chassis_alarm_echo(self.container)
if result['internal_sensor_alarm'] != '16':
raise Exception('告警不正确')
# 检查imu状态
result = chassis_state_echo(self.container)
if result['imu'] != '16':
raise Exception('下位机imu状态不正确')
logging.info('2、取消TP点'
'//告警恢复，internal_sensor_alarm为0，/chassis_state状态imu恢复为0')
tp_main_set(self.container, '55', '0')
result = chassis_alarm_echo(self.container)
if result['internal_sensor_alarm'] != '0':
raise Exception('告警未恢复')
# 检查imu状态
result = chassis_state_echo(self.container)
if result['imu'] != '0':
raise Exception('下位机imu状态不正确')
def test_eTP_061(self):
logging.info('1、注入系统SD卡未连接TP点'
'//产生异常告警system_alarm为8192,/chassis_state状态flash为1')
# 检查告警为bit13
tp_main_set(self.container, '61', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '8192':
raise Exception('告警不正确')
# 检查flash状态
result = chassis_state_echo(self.container)
if result['flash'] != '1':
raise Exception('下位机flash状态不正确')
logging.info('2、取消TP点' '//告警恢复system_alarm为0，/chassis_state状态flash为0')
# 检查告警恢复
tp_main_set(self.container, '61', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查flash状态
result = chassis_state_echo(self.container)
if result['flash'] != '0':
raise Exception('下位机flash状态未恢复')
def test_eTP_002(self):
logging.info('1、注入2号TP点，模拟CPU使用率90%'
'//产生cpu异常告警system_alarm为16384，下位机状态显示cpu使用率90%')
# 检查告警为bit14
tp_main_set(self.container, '2', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '16384':
raise Exception('告警不正确')
# 检查cpu使用率
result = chassis_state_echo(self.container)
if result['cpu_usage'] != '90':
raise Exception('CPU使用率不为90')
logging.info('2、取消TP点' '//告警恢复system_alarm为0，且下位机状态cpu使用率不为90%')
# 检查告警恢复
tp_main_set(self.container, '2', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查cpu使用率
result = chassis_state_echo(self.container)
if result['cpu_usage'] == '90':
raise Exception('CPU使用率未恢复')
def test_eTP_010(self):
logging.info('1、注入10号TP点，模拟状态机任务剩余堆栈量为49'
'//产生状态机堆栈异常告警system_alarm为8，下位机状态显示堆栈剩余量为49')
# 检查告警为bit3
tp_main_set(self.container,eTP_num='10',switch='1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '8':
raise Exception('告警不正确')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if '[49,' not in result['stack_rec']:
raise Exception('堆栈剩余量不为49')
logging.info('2、取消TP点'
'//告警恢复system_alarm为0，且下位机状态堆栈剩余量不为49')
# 检查告警恢复
tp_main_set(self.container,'10','0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
if '[49,' in result['stack_rec']:
raise Exception('堆栈剩余量未恢复')
def test_eTP_013(self):
logging.info('1、注入10号TP点，模拟日志任务剩余堆栈量为49'
'//产生日志堆栈异常告警system_alarm为8，下位机状态显示堆栈剩余量为49')
# 检查告警为bit3
tp_main_set(self.container, eTP_num='11', switch='1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '16':
raise Exception('告警不正确')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
stack_rec = result['stack_rec']
if re.match('\[\d+, (\d+)', stack_rec).group(1) != '49':
raise Exception('堆栈剩余量不为49')
logging.info('2、取消TP点' '//告警恢复system_alarm为0，且下位机状态堆栈剩余量不为49')
# 检查告警恢复
tp_main_set(self.container, '11', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
# 检查堆栈剩余量
result = chassis_state_echo(self.container)
stack_rec = result['stack_rec']
if re.match('\[\d+, (\d+)', stack_rec).group(1) == '49':
raise Exception('堆栈剩余量未恢复')
def test_eTP_064(self):
logging.info('1、注入电源板温度高TP点' '//产生正确告警，power_alarm为8388608（bit23）')
tp_main_set(self.container, '64', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '8388608':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '64', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_053(self):
logging.info('1、注入摇杆数据异常TP点' '//产生正确告警，external_sensor_alram为1')
tp_main_set(self.container, '53', '1')
result = chassis_alarm_echo(self.container)
if result['external_sensor_alarm'] != '1':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，external_sensor_alarm为0')
tp_main_set(self.container, '53', '0')
result = chassis_alarm_echo(self.container)
if result['external_sensor_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_044(self):
logging.info('1、注入左驱动器过压TP点' '//产生正确告警，motor_driver_alarm为131072')
tp_main_set(self.container, '44', '1')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '131072':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，motor_driver_alarm为0')
tp_main_set(self.container, '44', '0')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_040(self):
logging.info('1、注入右驱动器无刷传感器故障TP点' '//产生正确告警，motor_driver_alarm为8192')
tp_main_set(self.container, '40', '1')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '8192':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，motor_driver_alarm为0')
tp_main_set(self.container, '40', '0')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_038(self):
logging.info('1、注入右驱动器短路TP点' '//产生正确告警，motor_driver_alarm为2048')
tp_main_set(self.container, '38', '1')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '2048':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，motor_driver_alarm为0')
tp_main_set(self.container, '38', '0')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_031(self):
logging.info('1、注入摇杆供电过流TP点' '//产生正确告警，power_alarm为4194304')
tp_main_set(self.container, '31', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '4194304':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '31', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_026(self):
logging.info('1、注入TX2电压异常TP点' '//产生正确告警，power_alarm为8192')
tp_main_set(self.container, '26', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '8192':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '26', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_065(self):
logging.info('1、注入电源板温度超高TP点' '//产生正确告警，power_alarm为16777216（bit24）')
tp_main_set(self.container, '65', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '16777216':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '65', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_029(self):
logging.info('1、注入PAD供电过流TP点' '//产生正确告警，power_alarm为1048576')
tp_main_set(self.container, '29', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '1048576':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '29', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_056(self):
logging.info('1、注入电源板与主控通讯断开标识TP点' '//产生正确告警，power_alarm为16')
tp_main_set(self.container, '56', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '32':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，power_alarm为0')
tp_main_set(self.container, '56', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_042(self):
logging.info('1、注入右驱动器启动时加载默认配置故障TP点'
'//产生正确告警，motor_driver_alarm为32768')
tp_main_set(self.container, '42', '1')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '32768':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，motor_driver_alarm为0')
tp_main_set(self.container, '42', '0')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_049(self):
logging.info('1、注入左驱动器MOSFET故障TP点'
'//产生正确告警，motor_driver_alarm为4194304')
tp_main_set(self.container, '49', '1')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '4194304':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复，motor_driver_alarm为0')
tp_main_set(self.container, '49', '0')
result = chassis_alarm_echo(self.container)
if result['motor_driver_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_030(self):
logging.info('1、注入外设供电过流(超声波/路由器/RTK)TP点'
'//产生正确告警，power_alarm为2097152')
tp_main_set(self.container, '30', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '2097152':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '30', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_004(self):
logging.info('1、注入4号TP点，模拟SD卡存储占满' '//产生cpu异常告警system_alarm为256')
# 检查告警为bit8
tp_main_set(self.container, '4', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '256':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复system_alarm为256')
# 检查告警恢复
tp_main_set(self.container, '4', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_059(self):
logging.info('1、注入系统cpu温度高TP点' '//产生异常告警system_alarm为256')
# 检查告警为bit17
tp_main_set(self.container, '59', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '131072':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复system_alarm为0')
# 检查告警恢复
tp_main_set(self.container, '59', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_005(self):
logging.info('1、注入超低温TP点'
'//产生正确告警，bit8超低温')
tp_main_set(self.container,'5','1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '256':
raise Exception('告警不正确')
logging.info('2、取消TP点'
'//告警恢复')
tp_main_set(self.container,'5','0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_062(self):
logging.info('1、注入接收控制命令超时TP点' '//产生告警system_alarm为1048576')
# 检查告警为bit20
tp_main_set(self.container, '62', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '1048576':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复system_alarm为0')
# 检查告警恢复
tp_main_set(self.container, '62', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_060(self):
logging.info('1、注入系统cpu温度超高TP点' '//产生异常告警system_alarm为262144')
# 检查告警为bit18
tp_main_set(self.container, '60', '1')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '262144':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复system_alarm为0')
# 检查告警恢复
tp_main_set(self.container, '60', '0')
result = chassis_alarm_echo(self.container)
if result['system_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_006(self):
logging.info('1、注入超高温TP点'
'//产生正确告警，power_alarm为bit9--512')
tp_main_set(self.container,'6','1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '512':
raise Exception('告警不正确')
logging.info('2、取消TP点'
'//告警恢复，power_alarm为0')
tp_main_set(self.container,'6','0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_017(self):
logpath = os.getcwd().replace(
'autotest', 'auto_result/log') + '/' + os.path.basename(__file__)
logging.info('前置步骤：所有docker均已启动。roscore已运行')
logging.info('1、注入低电量TP点' '//产生正确告警，bit0低电量')
tp_main_set(self.container, '17', '1')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '1':
raise Exception('告警不正确')
logging.info('2、取消TP点' '//告警恢复')
tp_main_set(self.container, '17', '0')
result = chassis_alarm_echo(self.container)
if result['power_alarm'] != '0':
raise Exception('告警未恢复')
def test_eTP_054(self):
logging.info(
'1、注入右驱动器通讯异常TP点'
'//产生校验错误告警和通讯异常，external_sensor_alram为262146 （bit18+bit1）')
tp_main_set(self.container, '54', '1')
result = chassis_alarm_echo(self.container)
if result['external_sensor_alarm'] != '262146':
raise Exception('告警不正确')
# 检查imu状态
result = chassis_state_echo(self.container)
if result['joystick'] != '2':
raise Exception('下位机joystick状态不正确')
logging.info('2、取消TP点' '//告警恢复，external_sensor_alarm为0')
tp_main_set(self.container, '54', '0')
result = chassis_alarm_echo(self.container)
if result['external_sensor_alarm'] != '0':
raise Exception('告警未恢复')
# 检查imu状态
result = chassis_state_echo(self.container)
if result['joystick'] != '0':
raise Exception('下位机joystick状态不正确')
def teardown_method(self):
logging.info('---------after-----------')
tp_main_set(self.container, '53', '0')
