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https://github.com/dptech-corp/Uni-Lab-OS.git
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255 lines
7.5 KiB
Python
255 lines
7.5 KiB
Python
#!/usr/bin/env python3
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"""
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Dummy2 机械臂接入 UniLab 系统测试脚本
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"""
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import os
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import sys
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import time
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import yaml
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import json
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def test_device_model_files():
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"""测试设备模型文件是否完整"""
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print("=== 测试设备模型文件 ===")
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device_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/device_mesh/devices/dummy2_robot"
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required_files = [
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"macro_device.xacro",
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"dummy2_robot.json",
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"config/joint_limits.yaml",
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"config/default_kinematics.yaml",
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"config/physical_parameters.yaml",
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"config/visual_parameters.yaml"
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]
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required_meshes = [
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"meshes/base_link.stl",
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"meshes/J1_1.stl",
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"meshes/J2_1.stl",
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"meshes/J3_1.stl",
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"meshes/J4_1.stl",
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"meshes/J5_1.stl",
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"meshes/J6_1.stl",
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"meshes/camera_1.stl"
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]
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all_files = required_files + required_meshes
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missing_files = []
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for file_path in all_files:
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full_path = os.path.join(device_path, file_path)
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if not os.path.exists(full_path):
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missing_files.append(file_path)
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else:
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print(f"✅ {file_path}")
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if missing_files:
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print(f"❌ 缺少文件: {missing_files}")
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return False
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else:
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print("✅ 所有模型文件都存在")
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return True
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def test_driver_file():
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"""测试驱动文件"""
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print("\n=== 测试驱动文件 ===")
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driver_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/devices/ros_dev/moveit_interface.py"
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if not os.path.exists(driver_path):
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print(f"❌ 驱动文件不存在: {driver_path}")
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return False
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try:
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# 尝试导入驱动类
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sys.path.insert(0, os.path.dirname(driver_path))
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from unilabos.devices.ros_dev.moveit_interface import MoveitInterface
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print("✅ 驱动文件存在且可导入")
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# 检查必要的方法
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required_methods = [
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'__init__',
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'post_init',
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'check_tf_update_actions',
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'resource_manager',
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'wait_for_resource_action',
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'moveit_joint_task',
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'moveit_task'
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]
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missing_methods = []
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for method in required_methods:
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if not hasattr(MoveitInterface, method):
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missing_methods.append(method)
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if missing_methods:
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print(f"❌ 驱动类缺少方法: {missing_methods}")
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return False
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else:
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print("✅ 驱动类包含所有必要方法")
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return True
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except ImportError as e:
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print(f"❌ 驱动文件导入失败: {e}")
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return False
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def test_registry_config():
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"""测试注册表配置"""
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print("\n=== 测试注册表配置 ===")
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registry_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/registry/devices/robot_arm.yaml"
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if not os.path.exists(registry_path):
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print(f"❌ 注册表文件不存在: {registry_path}")
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return False
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try:
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with open(registry_path, 'r', encoding='utf-8') as f:
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config = yaml.safe_load(f)
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if 'robotic_arm.Dummy2' not in config:
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print("❌ 注册表中没有找到 robotic_arm.Dummy2 配置")
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return False
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dummy2_config = config['robotic_arm.Dummy2']
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# 检查必要的配置项
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required_keys = [
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'category',
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'class',
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'description',
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'init_param_schema',
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'model',
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'version'
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]
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missing_keys = []
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for key in required_keys:
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if key not in dummy2_config:
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missing_keys.append(key)
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if missing_keys:
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print(f"❌ Dummy2配置缺少字段: {missing_keys}")
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return False
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# 检查模块路径
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module_path = dummy2_config.get('class', {}).get('module')
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if module_path != 'unilabos.devices.ros_dev.moveit_interface:MoveitInterface':
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print(f"❌ 模块路径不正确: {module_path}")
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return False
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# 检查动作定义
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actions = dummy2_config.get('class', {}).get('action_value_mappings', {})
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required_actions = [
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'auto-check_tf_update_actions',
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'auto-post_init',
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'auto-resource_manager',
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'auto-wait_for_resource_action',
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'auto-moveit_joint_task',
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'auto-moveit_task',
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'pick_and_place'
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]
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missing_actions = []
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for action in required_actions:
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if action not in actions:
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missing_actions.append(action)
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if missing_actions:
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print(f"❌ 缺少动作定义: {missing_actions}")
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return False
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print("✅ 注册表配置完整且正确")
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return True
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except Exception as e:
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print(f"❌ 注册表配置检查失败: {e}")
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return False
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def test_can2eth_connectivity():
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"""测试CAN2ETH连接（可选）"""
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print("\n=== 测试CAN2ETH连接 ===")
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try:
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import socket
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import struct
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# 尝试连接CAN2ETH网关
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.settimeout(2.0)
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can2eth_host = "192.168.8.88"
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can2eth_port = 8080
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# 发送ping命令
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ping_cmd = struct.pack('>B', 0xFF)
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sock.sendto(ping_cmd, (can2eth_host, can2eth_port))
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try:
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data, addr = sock.recvfrom(1024)
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if len(data) > 0:
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print(f"✅ CAN2ETH网关 {can2eth_host}:{can2eth_port} 连接成功")
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return True
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except socket.timeout:
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print(f"⚠️ CAN2ETH网关 {can2eth_host}:{can2eth_port} 无响应（可能未启动）")
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return False
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except Exception as e:
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print(f"⚠️ CAN2ETH连接测试失败: {e}")
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return False
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finally:
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if 'sock' in locals():
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sock.close()
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def main():
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"""主测试函数"""
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print("🤖 Dummy2 机械臂接入 UniLab 系统测试")
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print("=" * 50)
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tests = [
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("设备模型文件", test_device_model_files),
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("驱动文件", test_driver_file),
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("注册表配置", test_registry_config),
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("CAN2ETH连接", test_can2eth_connectivity)
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]
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results = []
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for test_name, test_func in tests:
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try:
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result = test_func()
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results.append((test_name, result))
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except Exception as e:
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print(f"❌ {test_name}测试异常: {e}")
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results.append((test_name, False))
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print("\n" + "=" * 50)
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print("📊 测试结果汇总:")
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passed = 0
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total = len(results)
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for test_name, result in results:
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status = "✅ 通过" if result else "❌ 失败"
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print(f" {test_name}: {status}")
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if result:
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passed += 1
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print(f"\n总体结果: {passed}/{total} 项测试通过")
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if passed == total:
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print("🎉 Dummy2 机械臂已成功接入 UniLab 系统！")
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print("\n📋 后续步骤:")
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print("1. 启动 CAN2ETH 服务: ros2 launch dummy2_can2eth dummy2_can2eth_server.launch.py")
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print("2. 在 UniLab 界面中添加 Dummy2 设备实例")
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print("3. 测试设备初始化和基本功能")
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else:
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print("⚠️ 还有一些问题需要解决才能完全接入")
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return passed == total
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if __name__ == "__main__":
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main()
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