openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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2.8 KiB

#include "catch2/catch.hpp"
#include "system/loggerd/logger.h"
typedef cereal::Sentinel::SentinelType SentinelType;
void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) {
const std::string segment_path = route_path + "--" + std::to_string(segment);
SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT;
SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
for (const char *fn : {"/rlog", "/qlog"}) {
const std::string log_file = segment_path + fn;
std::string log = util::read_file(log_file);
REQUIRE(!log.empty());
int event_cnt = 0, i = 0;
kj::ArrayPtr<const capnp::word> words((capnp::word *)log.data(), log.size() / sizeof(capnp::word));
while (words.size() > 0) {
try {
capnp::FlatArrayMessageReader reader(words);
auto event = reader.getRoot<cereal::Event>();
words = kj::arrayPtr(reader.getEnd(), words.end());
if (i == 0) {
REQUIRE(event.which() == cereal::Event::INIT_DATA);
} else if (i == 1) {
REQUIRE(event.which() == cereal::Event::SENTINEL);
REQUIRE(event.getSentinel().getType() == begin_sentinel);
REQUIRE(event.getSentinel().getSignal() == 0);
} else if (words.size() > 0) {
REQUIRE(event.which() == cereal::Event::CLOCKS);
++event_cnt;
} else {
// the last event must be SENTINEL
REQUIRE(event.which() == cereal::Event::SENTINEL);
REQUIRE(event.getSentinel().getType() == end_sentinel);
REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0));
}
++i;
} catch (const kj::Exception &ex) {
INFO("failed parse " << i << " exception :" << ex.getDescription());
REQUIRE(0);
break;
}
}
REQUIRE(event_cnt == required_event_cnt);
}
}
void write_msg(LoggerState *logger) {
MessageBuilder msg;
msg.initEvent().initClocks();
logger->write(msg.toBytes(), true);
}
TEST_CASE("logger") {
const int segment_cnt = 100;
const std::string log_root = "/tmp/test_logger";
system(("rm " + log_root + " -rf").c_str());
std::string route_name;
{
LoggerState logger(log_root);
route_name = logger.routeName();
for (int i = 0; i < segment_cnt; ++i) {
REQUIRE(logger.next());
REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
REQUIRE(logger.segment() == i);
write_msg(&logger);
}
logger.setExitSignal(1);
}
for (int i = 0; i < segment_cnt; ++i) {
verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
}
}