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 load_conf_parm(self, ymal_filename, params):
cf = conf_loader.ConfLoader(ymal_filename)
#if not cf None:
parms_list = cf.prms[params]
#print(parms_list)
for each_parm in parms_list:
#print (each_parm)
self.msgs.append(self.messge_desriptor(**each_parm))
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_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 __init__(self, *args, **kwargs):
super(TestLauncher, self).__init__(*args, **kwargs)
cf = conf_loader.ConfLoader("conf/hmi_launcher.test.yml")
self._test_worker = cf.prms['workers'][0]['name']
import unittest
import grpc
import hmi_error_code_pb2
import hmi_grpc_api_pb2_grpc
import hmi_system_control_pb2
import hmi_routing_pb2
import hmi_common_pb2
import common_geometry_pb2
import conf_loader
channel = grpc.insecure_channel('127.0.0.1:8090')
stub = hmi_grpc_api_pb2_grpc.HMIGrpcServiceStub(channel)
cf = conf_loader.ConfLoader("testinfo.yaml")
prms = cf.prms['RoutingRequest_dasha']
print(str(prms))
req = 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'])
)