IQ.Pilot Release Commit @ 661a2de

tools/cabana/tests/test_cabana.cc

@@ -1,14 +1,15 @@
 
-#undef INFO
-#include <QDir>
+#include <filesystem>
+#include <sstream>
 
-#include "catch2/catch.hpp"
+#include "common/tests/native_test.h"
+#include "tools/cabana/dbc/dbcfile.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
-TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+void test_generate_dbc() {
+  std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
@@ -28,9 +29,9 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("DBCFile::generateDBC - comment order") {
+void test_comment_order() {
   // Ensure that message comments are followed by signal comments and in the correct order
-  auto content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 BO_ 162 message_2: 8 EON
@@ -45,8 +46,8 @@ CM_ SG_ 162 signal_2 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC -- preserve original header") {
-  QString content = R"(VERSION "1.0"
+void test_preserve_original_header() {
+  std::string content = R"(VERSION "1.0"
 
 NS_ :
  CM_
@@ -65,8 +66,8 @@ CM_ SG_ 160 signal_1 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC - escaped quotes") {
-  QString content = R"(BO_ 160 message_1: 8 EON
+void test_escaped_quotes() {
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 CM_ BO_ 160 "message comment with \"escaped quotes\"";
@@ -76,8 +77,8 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("parse_dbc") {
-  QString content = R"(
+void test_parse_dbc() {
+  std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -119,9 +120,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(sig_1->comment == "signal comment");
   REQUIRE(sig_1->receiver_name == "XXX");
   REQUIRE(sig_1->val_desc.size() == 3);
-  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
   REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
@@ -142,16 +143,66 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
 }
 
-TEST_CASE("parse_iqdbc") {
-  QDir dir(OPENDBC_FILE_PATH);
-  QStringList errors;
-  for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
+// OPENDBC_FILE_PATH points at iqdbc/dbc here — this is the load-bearing check that
+// cabana can still parse every DBC iqpilot ships.
+void test_parse_iqdbc() {
+  std::vector<std::string> errors;
+  int parsed = 0;
+  for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".dbc") continue;
     try {
-      auto dbc = DBCFile(dir.filePath(fn));
+      auto dbc = DBCFile(entry.path().string());
+      ++parsed;
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }
   }
-  INFO(errors.join("\n").toStdString());
+  // guard against OPENDBC_FILE_PATH pointing somewhere empty, which would make the
+  // loop above pass vacuously
+  REQUIRE(parsed > 100);
+  std::ostringstream details;
+  for (const auto &error : errors) details << error << '\n';
+  if (!errors.empty()) std::cerr << details.str();
   REQUIRE(errors.empty());
 }
+
+void test_dbc_manager() {
+  DBCManager manager;
+  int files_changed = 0;
+  int signals_added = 0;
+  int masks_updated = 0;
+  manager.setCallbacks({
+    .signal_added = [&](MessageId, const cabana::Signal *) { ++signals_added; },
+    .file_changed = [&]() { ++files_changed; },
+    .mask_updated = [&]() { ++masks_updated; },
+  });
+
+  std::string error;
+  REQUIRE(manager.open(SOURCE_ALL, "test", "BO_ 160 message: 8 XXX\n", &error));
+  REQUIRE(error.empty());
+  REQUIRE(files_changed == 1);
+
+  cabana::Signal signal{};
+  signal.name = "speed";
+  signal.start_bit = 0;
+  signal.size = 8;
+  signal.is_little_endian = true;
+  manager.addSignal({.source = 0, .address = 160}, signal);
+  REQUIRE(signals_added == 1);
+  REQUIRE(masks_updated == 1);
+  REQUIRE(manager.msg({.source = 0, .address = 160})->sig("speed") != nullptr);
+}
+
+void test_cabana_core() {
+  test_generate_dbc();
+  test_comment_order();
+  test_preserve_original_header();
+  test_escaped_quotes();
+  test_parse_dbc();
+  test_parse_iqdbc();
+  test_dbc_manager();
+}
+
+int main() {
+  return run_native_test(test_cabana_core);
+}