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):