def State_change004():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、模拟pad下发自动驾驶指令）' '//5s内状态机仍为锁车态')
communication_control_pub(container, mode='vehicle_state', state='auto')
# 等待5s
time.sleep(5)
# 上位机为维护锁车态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
# 下位机为锁车态
state_machine = chassis_state_change_echo(container)
if state_machine != 0:
raise Exception('状态机预期为锁车，实际为%d' % state_machine)
def State_change005():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、下发解锁命令）' '//状态机切换为维护空闲')
communication_control_pub(container, mode='vehicle_state', state='unlock')
# 查看状态机状态为维护空闲
if state_machine_state_echo(container) != 1:
raise Exception('当前状态不为维护空闲')
logging.info('2、下发上锁命令）' '//状态机切换为维护锁车')
communication_control_pub(container, mode='vehicle_state', state='lock')
# 查看状态机状态为维护空闲
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
def State_change001():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、维护锁车时发生不可使用故障'
'//上位机进入故障态，下位机进入故障态')
# 注入platform_datacollect_sensor_state故障,id65541
fault_inject_pub(container,65541,1)
# 上位机10s内进入维护故障
for i in range(10):
if state_machine_state_echo(container) != 3:
time.sleep(2)
else:
break
if i == 9:
raise Exception('上位机未进入故障态')
# 下位机进入故障
state_machine = chassis_state_change_echo(container)
if state_machine != 4:
raise Exception('状态机预期为故障，实际为%d' %state_machine)
# 查看产生对应告警
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'sensor_state collect failed' or alarm_info['type'] != '0':
raise Exception('告警不正确')
# 取消故障注入
fault_inject_pub(container,65541,0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'sensor_state collect failed' or alarm_info['type'] != '1':
raise Exception('告警不正确')
# 上位机恢复为维护锁车态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
# 下位机进入锁车态
state_machine = chassis_state_change_echo(container)
if state_machine != 0:
raise Exception('状态机预期为锁车，实际为%d' %state_machine)
def State_change015():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式' '//上位机进入运营锁车模式')
communication_control_pub(container,
mode='vehicle_mode',
state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
logging.info('2、模拟pad下发解锁命令' '//上位机进入运营就绪态')
communication_control_pub(container, mode='vehicle_state', state='unlock')
if state_machine_state_echo(container) != 5:
raise Exception('当前状态不为维护锁车')
def State_change017():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式' '//上位机进入运营锁车模式')
communication_control_pub(container,
mode='vehicle_mode',
state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
logging.info('2、注入platform_datacollect_ultrasound故障ID 65540'
'//上位机进入运营故障态，下位机进入故障态，告警ultrasound collect failed正确')
fault_inject_pub(container, 65540, 1)
# 上位机20s内进入维护故障
for i in range(10):
if state_machine_state_echo(container) != 8:
time.sleep(2)
else:
break
if i == 9:
raise Exception('上位机未进入故障态')
# 下位机进入故障
state_machine = chassis_state_change_echo(container)
if state_machine != 4:
raise Exception('状态机预期为故障，实际为%d' % state_machine)
# 查看产生对应告警
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'ultrasound collect failed' or alarm_info[
'type'] != '0':
raise Exception('告警不正确')
# 取消故障注入
fault_inject_pub(container, 65540, 0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['type'] != '1':
raise Exception('故障未取消')
def State_change016():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式' '//上位机进入运营锁车模式')
communication_control_pub(container,
mode='vehicle_mode',
state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
logging.info('2、注入platform_datacollect_imu故障ID 65538'
'//10s内产生正确告警imu collect failed正确,上位机仍为运营锁车态，下位机仍为锁车态')
fault_inject_pub(container, 65538, 1)
time.sleep(20)
# 查看产生对应告警
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'imu collect failed' or alarm_info[
'type'] != '0':
raise Exception('告警不正确')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
# 下位机仍为锁车态
state_machine = chassis_state_change_echo(container)
if state_machine != 0:
raise Exception('状态机预期为锁车，实际为%d' % state_machine)
# 恢复故障
fault_inject_pub(container, 65538, 0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'imu collect failed' or alarm_info[
'type'] != '1':
raise Exception('告警不正确')
def State_change003():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、注入不可自动驾驶故障（数据采集错误，故障ID 65537）' '//状态机状态10秒内不改变')
# 注入platform_datacollect_odom故障,id 65537
fault_inject_pub(container, 65537, 1)
# 20s内查看产生对应告警
for i in range(5):
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'odom collect failed' or alarm_info[
'type'] != '0':
time.sleep(5)
else:
break
if i == 4:
raise Exception('未产生对应告警')
# 上位机仍为维护锁车态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
# 下位机为锁车态
state_machine = chassis_state_change_echo(container)
if state_machine != 0:
raise Exception('状态机预期为锁车，实际为%d' % state_machine)
# 取消故障注入
fault_inject_pub(container, 65537, 0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'odom collect failed' or alarm_info[
'type'] != '1':
raise Exception('告警不正确')
def State_change002():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式' '//上位机进入运营锁车模式，下位机进入锁车态')
communication_control_pub(container,
mode='vehicle_mode',
state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
# 下位机进入锁车态
state_machine = chassis_state_change_echo(container)
if state_machine != 0:
raise Exception('状态机预期为锁车，实际为%d' % state_machine)
# 恢复为维护模式
communication_control_pub(container,
mode='vehicle_mode',
state='maintenance')
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
def State_change025():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式'
'//上位机进入运营锁车模式')
communication_control_pub(container, mode='vehicle_mode', state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
logging.info('2、下发解锁命令）'
'//状态机切换为运营就绪')
communication_control_pub(container, mode='vehicle_state', state='unlock')
# 查看状态机状态为运营就绪
if state_machine_state_echo(container) != 5:
raise Exception('当前状态不为运营就绪')
logging.info('3、切换自动驾驶模式'
'//上位机状态机为自动驾驶')
communication_control_pub(container, mode='vehicle_state', state='auto')
# 查看状态机状态为自动驾驶
if state_machine_state_echo(container) != 7:
raise Exception('当前状态不为自动驾驶')
logging.info('4、注入不可使用故障（数据采集错误，故障ID 65541）'
'//状态机切换为运营故障态')
# 注入platform_datacollect_sensor_state故障,id65541
fault_inject_pub(container,65541,1)
# 上位机20s内进入运营故障
for i in range(10):
if state_machine_state_echo(container) != 8:
time.sleep(2)
else:
break
if i == 9:
raise Exception('上位机未进入故障态')
# 下位机进入故障
state_machine = chassis_state_change_echo(container)
if state_machine != 4:
raise Exception('状态机预期为故障，实际为%d' %state_machine)
# 取消故障注入
fault_inject_pub(container,65541,0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'sensor_state collect failed' or alarm_info['type'] != '1':
raise Exception('告警不正确')
def State_change022():
logging.info('前置步骤：所有docker均已启动。roscore已运行。已屏蔽所有影响状态机的告警，状态机状态为维护锁车。')
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 Exec_Run.Exec(container).roscore_check():
raise Exception('roscore未自动启动')
# 影响状态机告警为空
if self_check_service(container):
raise Exception('存在影响状态机的告警')
# 查看上位机状态机状态
if state_machine_state_echo(container) != 0:
raise Exception('当前状态不为维护锁车')
logging.info('1、切换运营模式'
'//上位机进入运营锁车模式')
communication_control_pub(container, mode='vehicle_mode', state='operation')
# 上位机为运营锁车态
if state_machine_state_echo(container) != 4:
raise Exception('当前状态不为运营锁车')
logging.info('2、下发解锁命令）'
'//状态机切换为运营就绪')
communication_control_pub(container, mode='vehicle_state', state='unlock')
# 查看状态机状态为运营就绪
if state_machine_state_echo(container) != 5:
raise Exception('当前状态不为运营就绪')
logging.info('3、注入不可自动驾驶故障（数据采集错误，故障ID 65537）'
'//状态机状态10秒内不改变')
# 注入platform_datacollect_odom故障,id 65537
fault_inject_pub(container,65537,1)
# 10s内状态机不进入故障
time.sleep(10)
# 查看产生对应告警
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'odom collect failed' or alarm_info['type'] != '0':
raise Exception('告警不正确')
# 上位机仍为运营就绪态
if state_machine_state_echo(container) != 5:
raise Exception('当前状态不为运营就绪态')
# 下位机为就绪态
state_machine = chassis_state_change_echo(container)
if state_machine != 1:
raise Exception('状态机预期为就绪，实际为%d' %state_machine)
# 取消故障注入
fault_inject_pub(container,65537,0)
# 查看告警取消的信息
alarm_info = communication_alarm_echo(container)
if alarm_info['content'] != 'odom collect failed' or alarm_info['type'] != '1':
raise Exception('告警不正确')