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70 lines
2.4 KiB
70 lines
2.4 KiB
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#include "opendbc/can/common.h"
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#undef INFO
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#include "catch2/catch.hpp"
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#include "tools/replay/logreader.h"
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#include "tools/cabana/dbc/dbcmanager.h"
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#include "tools/cabana/streams/abstractstream.h"
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// demo route, first segment
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const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2";
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TEST_CASE("DBCFile::generateDBC") {
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QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated");
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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.msgCount() == dbc_from_generated.msgCount());
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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 can messages") {
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DBCManager dbc(nullptr);
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dbc.open({0}, "toyota_new_mc_pt_generated");
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CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
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LogReader log;
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REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true));
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REQUIRE(log.events.size() > 0);
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for (auto e : log.events) {
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if (e->which == cereal::Event::Which::CAN) {
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std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
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for (const auto &c : e->event.getCan()) {
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const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
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if (c.getSrc() == 0 && msg) {
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for (auto sig : msg->getSignals()) {
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double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
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values_1[{c.getAddress(), sig->name}].push_back(val);
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}
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}
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}
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can_parser.UpdateCans(e->mono_time, e->event.getCan());
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auto values_2 = can_parser.query_latest();
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for (auto &[key, v1] : values_1) {
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bool found = false;
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for (auto &v2 : values_2) {
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if (v2.address == key.first && key.second == v2.name.c_str()) {
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REQUIRE(v2.all_values.size() == v1.size());
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REQUIRE(v2.all_values == v1);
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found = true;
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break;
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}
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}
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REQUIRE(found);
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}
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}
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}
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}
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