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 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 run(): cf = conf_loader.ConfLoader("testinfo.yaml") prms = cf.prms['RoutingRequest_xiongan'] print(str(prms)) request = hmi_routing_pb2.RoutingRequest(\ start=hmi_common_pb2.PolygonPoint(\ x=prms['start']['x'], y=prms['start']['y'], z=prms['start']['z']), end=hmi_common_pb2.PolygonPoint(\ x=prms['end']['x'], y=prms['end']['y'], z=prms['end']['z']), start_quaternion=common_geometry_pb2.Quaternion(\ qx=prms['start_quaternion']['qx'], qy=prms['start_quaternion']['qy'],\ qz=prms['start_quaternion']['qz'], qw=prms['start_quaternion']['qw']), end_quaternion=common_geometry_pb2.Quaternion(\ qx=prms['end_quaternion']['qx'], qy=prms['end_quaternion']['qy'],\ qz=prms['end_quaternion']['qz'], qw=prms['end_quaternion']['qw']) ) channel = grpc.insecure_channel("127.0.0.1:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) # response = stub.StartRouting(request) response = stub.StartRouting(request) print("Greeter client received: " + str(response)) time.sleep(2)
def switch_control_api(self, control_switch): request = hmi_car_device_pb2.DeciveControlRequest( action=control_switch) #request.action.append(control_switch) print("Request: " + str(request)) host_port = "127.0.0.1:" + self.random_port channel = grpc.insecure_channel(host_port) self.stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) time.sleep(1) return request
def call_fetch_api(self, fetch_key): request = hmi_fetch_msg_pb2.FetchKeys() request.keys.append(fetch_key) 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(5) response = stub.FetchSectionMsg(request) return response
def run_launch(): request = hmi_launch_pb2.LaunchRequest(header=1.0) channel = grpc.insecure_channel("127.0.0.1:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) response = stub.Launch(request) print("Greeter client received: " + str(response)) time.sleep(2)
def send_ota_msg(self, msg): request = hmi_ota_pb2.OtaRequest() try: request.action = msg except Exception as e: print(str(e)) channel = grpc.insecure_channel("127.0.0.1:" + self.random_port) stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) response = stub.NotiOTAClient(request) return response
def test_fetch_no_ultrasonic(self): 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) 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_emergency_stop(self): print("Request: " ) request = hmi_car_device_pb2.TriggerRequest(header=1.0 ,bool_flag=True) 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(5) try: response = stub.TriggerEmergencyStop(request) except Exception,e: print ('Error: err,str(Exception)',str(e))
def test_fetch_work_state(self): request = hmi_fetch_msg_pb2.FetchKeys() request.keys.append(hmi_fetch_msg_pb2.WORK_STATE) 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) self.assertTrue(response.HasField('work_state_result'), response) self.assertTrue(response.work_state_result.car_work_mode == hmi_collect_data_pb2.OPER_MODE, response)
def class_init(self): print('class init') if Local_test is True: host_port = "127.0.0.1:9898" else: host_port = "192.168.10.6:8090" channel = grpc.insecure_channel(host_port) self.request_list = [] self.response_list = [] self.semaphore = threading.Semaphore(0) self.t_list = [] self.__class__.stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) time.sleep(5)
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_intervene_error(self): request = hmi_driving_control_pb2.InterveneRequest( params=global_adc_status_pb2.UserCustomMessage( ignore_blocked_obstacle=True)) channel = grpc.insecure_channel("127.0.0.1:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) response = stub.Intervene(request) print("Client received: " + str(response)) self.assertTrue( response.code == hmi_error_code_pb2.SET_GLOBAL_PARAM_ERROR)
def run(): cf = conf_loader.ConfLoader("testinfo.yaml") prms = cf.prms['CalibrationValidityRequest'] print("CalibrationValidityRequest: " + str(prms)) request = hmi_world_pb2.CalibrationValidityRequest(type=prms['type']) channel = grpc.insecure_channel("172.20.72.16:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) response = stub.CheckCalibrationValidity(request) print("Greeter client received: " + str(response)) time.sleep(2)
def test_intervene(self): env_utils.start_parameter_server() request = hmi_driving_control_pb2.InterveneRequest( params=global_adc_status_pb2.UserCustomMessage( ignore_blocked_obstacle=True)) channel = grpc.insecure_channel("127.0.0.1:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) response = stub.Intervene(request) print("Client received: " + str(response)) self.assertTrue(response.code == hmi_error_code_pb2.OK) os.system('cyber_param list')
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)
def test_disengage_feedback(self): """ """ cf = conf_loader.ConfLoader("testinfo.yaml") prms = cf.prms['DisengageTypeContent'] print(str(prms)) request = hmi_driving_control_pb2.DisengageTypeContent( timestamp=prms['timestamp'], type=prms['type']) channel = grpc.insecure_channel("127.0.0.1:8090") stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) print("Client request: " + str(request)) response = stub.DisengageTypeFeedback(request) print("Greeter client received: " + str(response)) self.assertTrue(response.code == hmi_error_code_pb2.OK) self.assertTrue(response.info == 'disengage update!') time.sleep(2)
def start(): host_port = "192.168.10.6:8090" channel = grpc.insecure_channel(host_port) stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) time.sleep(5) return stub
import os import sys sys.path.append(os.path.abspath(os.path.dirname(__file__)) + '/../proto') sys.path.append(os.path.abspath(os.path.dirname(__file__)) + '/../python') import unittest import grpc import hmi_error_code_pb2 import hmi_grpc_api_pb2_grpc import hmi_system_control_pb2 channel = grpc.insecure_channel('127.0.0.1:8090') stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel) class TestReboot(unittest.TestCase): def test_reboot(self): res = stub.ShutdownSystem( hmi_system_control_pb2.SystemControlRequest( type=hmi_system_control_pb2.REBOOT)) print res self.assertTrue(res.code == hmi_error_code_pb2.SYSTEM_CTRL_ERROR) def test_shutdown(self): res = stub.ShutdownSystem( hmi_system_control_pb2.SystemControlRequest( type=hmi_system_control_pb2.SHUTDOWN)) print res self.assertTrue(res.code == hmi_error_code_pb2.SYSTEM_CTRL_ERROR) def test_poweroff(self):