mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-03 12:32:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Cabana: add test case for parsing can messages (#26495)

Browse Source 
* add test case for parsing can messages

* require size equal

* cleanup
old-commit-hash: ae40774425872b9d680448a41e2835c017c48e6c
This commit is contained in:
Dean Lee
2022-11-15 02:13:16 +08:00
committed by GitHub
parent ec2a47f007
commit 2cd0421823
1 changed files with 45 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/cabana/tests/test_cabana.cc
+45
View File
@@ -1,6 +1,12 @@
#include "opendbc/can/common.h"
#undef INFO
#include "catch2/catch.hpp"
#include "tools/cabana/dbcmanager.h"
#include "tools/replay/logreader.h"
// demo route, first segment
const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2";
TEST_CASE("DBCManager::generateDBC") {
DBCManager dbc_origin(nullptr);
@@ -20,3 +26,42 @@ TEST_CASE("DBCManager::generateDBC") {
REQUIRE(sig == new_m.sigs[name]);
}
}
TEST_CASE("Parse can messages") {
DBCManager dbc(nullptr);
dbc.open("toyota_new_mc_pt_generated");
CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
LogReader log;
REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true));
REQUIRE(log.events.size() > 0);
for (auto e : log.events) {
if (e->which == cereal::Event::Which::CAN) {
std::map<std::pair<uint32_t, std::string>, std::vector<double>> values_1;
for (const auto &c : e->event.getCan()) {
const auto msg = dbc.msg(c.getAddress());
if (c.getSrc() == 0 && msg) {
for (auto &[name, sig] : msg->sigs) {
double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig);
values_1[{c.getAddress(), name.toStdString()}].push_back(val);
}
}
}
can_parser.UpdateCans(e->mono_time, e->event.getCan());
auto values_2 = can_parser.query_latest();
for (auto &[key, v1] : values_1) {
bool found = false;
for (auto &v2 : values_2) {
if (v2.address == key.first && v2.name == key.second) {
REQUIRE(v2.all_values.size() == v1.size());
REQUIRE(v2.all_values == v1);
found = true;
break;
}
}
REQUIRE(found);
}
}
}
}