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101 lines
3.2 KiB
101 lines
3.2 KiB
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#undef INFO
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#include <QDir>
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#include "catch2/catch.hpp"
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#include "tools/cabana/dbc/dbcmanager.h"
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const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
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TEST_CASE("DBCFile::generateDBC") {
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QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
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DBCFile dbc_origin(fn);
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DBCFile dbc_from_generated("", dbc_origin.generateDBC());
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REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size());
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auto &msgs = dbc_origin.getMessages();
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auto &new_msgs = dbc_from_generated.getMessages();
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for (auto &[id, m] : msgs) {
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auto &new_m = new_msgs.at(id);
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REQUIRE(m.name == new_m.name);
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REQUIRE(m.size == new_m.size);
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REQUIRE(m.getSignals().size() == new_m.getSignals().size());
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auto sigs = m.getSignals();
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auto new_sigs = new_m.getSignals();
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for (int i = 0; i < sigs.size(); ++i) {
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REQUIRE(*sigs[i] == *new_sigs[i]);
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}
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}
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}
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TEST_CASE("parse_dbc") {
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QString content = R"(
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BO_ 160 message_1: 8 EON
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SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
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SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
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BO_ 162 message_1: 8 XXX
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SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX
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SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
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VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
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CM_ BO_ 160 "message comment" ;
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CM_ SG_ 160 signal_1 "signal comment";
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CM_ SG_ 160 signal_2 "multiple line comment
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1
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2
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";)";
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DBCFile file("", content);
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auto msg = file.msg(160);
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REQUIRE(msg != nullptr);
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REQUIRE(msg->name == "message_1");
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REQUIRE(msg->size == 8);
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REQUIRE(msg->comment == "message comment");
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REQUIRE(msg->sigs.size() == 2);
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REQUIRE(msg->transmitter == "EON");
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REQUIRE(file.msg("message_1") != nullptr);
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auto sig_1 = msg->sigs[0];
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REQUIRE(sig_1->name == "signal_1");
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REQUIRE(sig_1->start_bit == 0);
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REQUIRE(sig_1->size == 12);
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REQUIRE(sig_1->min == 0);
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REQUIRE(sig_1->max == 4095);
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REQUIRE(sig_1->unit == "unit");
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REQUIRE(sig_1->comment == "signal comment");
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REQUIRE(sig_1->receiver_name == "XXX");
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REQUIRE(sig_1->val_desc.size() == 3);
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REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
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REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
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REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
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auto &sig_2 = msg->sigs[1];
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REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
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// multiplexed signals
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msg = file.msg(162);
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REQUIRE(msg != nullptr);
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REQUIRE(msg->sigs.size() == 2);
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REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor);
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REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed);
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REQUIRE(msg->sigs[1]->multiplex_value == 4);
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REQUIRE(msg->sigs[1]->start_bit == 12);
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REQUIRE(msg->sigs[1]->size == 1);
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REQUIRE(msg->sigs[1]->receiver_name == "XXX");
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}
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TEST_CASE("parse_opendbc") {
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QDir dir(OPENDBC_FILE_PATH);
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QStringList errors;
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for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
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try {
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auto dbc = DBCFile(dir.filePath(fn));
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} catch (std::exception &e) {
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errors.push_back(e.what());
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}
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}
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INFO(errors.join("\n").toStdString());
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REQUIRE(errors.empty());
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}
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