def test_fetch_device(self):
env_utils.play_record('chassis.record')
request = hmi_fetch_msg_pb2.FetchKeys()
request.keys.append(hmi_fetch_msg_pb2.DEVICE)
print("Request: " + str(request))
host_port = "127.0.0.1:" + self.random_port
channel = grpc.insecure_channel(host_port)
stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel)
response = stub.FetchSectionMsg(request)
print("Response: " + str(response))
self.assertTrue(response.code == hmi_error_code_pb2.OK, response)
device = response.device
self.assertTrue(device.HasField('timestamp'), device)
self.assertTrue(device.HasField('dump_energy'), device)
self.assertTrue(device.HasField('door'), device)
self.assertTrue(device.HasField('head_lamp'), device)
self.assertTrue(device.HasField('front_lamp'), device)
self.assertTrue(device.HasField('emergency_lamp'), device)
self.assertTrue(device.HasField('courtesy_lamp'), device)
self.assertTrue(device.HasField('air_condition'), device)
self.assertTrue(device.HasField('driving_range'), device)
self.assertTrue(device.HasField('server_init_timestamp'), device)
self.assertTrue(device.HasField('vin'), device)
self.assertTrue(device.HasField('charge_state'), device)
self.assertTrue(device.HasField('parking_brake'), device)
self.assertTrue(device.HasField('carid'), device)
self.assertTrue(device.HasField('gear_location'), device)
def test_fetch_low_illumination(self):
env_utils.play_record('perception_obstacles.record')
# env_utils.play_record('ultrasonic.record')
request = hmi_fetch_msg_pb2.FetchKeys()
request.keys.append(hmi_fetch_msg_pb2.OBSTACLES)
print("Request: " + str(request))
host_port = "127.0.0.1:" + self.random_port
channel = grpc.insecure_channel(host_port)
stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel)
time.sleep(15)
response = stub.FetchSectionMsg(request)
# print("Response: " + str(response))
self.assertTrue(response.code == hmi_error_code_pb2.OK, response)
self.assertTrue(response.HasField('obstacles'), response)
word_obstacles = response.obstacles
self.assertTrue(word_obstacles.HasField('low_illumination'), word_obstacles)
self.assertTrue(word_obstacles.HasField('timestamp'), word_obstacles)
print("low_illumination: " + str(word_obstacles.low_illumination))
obstacles_list = word_obstacles.obstacles
obstacle = obstacles_list[0]
self.assertTrue(obstacle.HasField('id'), obstacle)
self.assertTrue(obstacle.HasField('type'), obstacle)
self.assertTrue(obstacle.HasField('heading'), obstacle)
self.assertTrue(obstacle.HasField('position'), obstacle)
self.assertTrue(obstacle.HasField('length'), obstacle)
self.assertTrue(obstacle.HasField('width'), obstacle)
self.assertTrue(obstacle.HasField('height'), obstacle)
def setUp(self):
self.random_port = str(random.randint(8000,9000))
flags = {
'hmi_server_host': '127.0.0.1',
'hmi_server_port': self.random_port,
'hmi_camera_params_path': os.path.abspath(os.path.dirname(__file__)) + '/params',
}
env_utils.start_hmi_server(flags)
env_utils.play_record('channel_test.record')
def test_fetch_ultrasonic(self):
env_utils.play_record('ultrasonic.record')
request = hmi_fetch_msg_pb2.FetchKeys()
request.keys.append(hmi_fetch_msg_pb2.ULTRASONIC)
print("Request: " + str(request))
channel = grpc.insecure_channel("127.0.0.1:8090")
stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel)
response = stub.FetchSectionMsg(request)
print("Response: " + str(response))
self.assertTrue(response.code == hmi_error_code_pb2.OK, response)
self.assertFalse(response.HasField('ultrasonic'), response)
def test_fetch_ultrasonic(self):
env_utils.play_record('ultrasonic.record')
request = hmi_fetch_msg_pb2.FetchKeys()
request.keys.append(hmi_fetch_msg_pb2.ULTRASONIC)
print("Request: " + str(request))
host_port = "127.0.0.1:" + self.random_port
channel = grpc.insecure_channel(host_port)
stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel)
try:
response = stub.FetchSectionMsg(request)
except Exception as e:
print(str(e))
print("Response: " + str(response))
self.assertTrue(response.code == hmi_error_code_pb2.OK, response)
self.assertTrue(response.HasField('ultrasonic'), response)
self.assertTrue(len(response.ultrasonic.ranges) == 16, response)