Add openpilot tools

tools/cabana/tests/test_cabana.cc

@@ -0,0 +1,87 @@
+
+#undef INFO
+#include "catch2/catch.hpp"
+#include "tools/replay/logreader.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.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");
+  DBCFile dbc_origin(fn);
+  DBCFile dbc_from_generated("", dbc_origin.generateDBC());
+
+  REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
+  auto &msgs = dbc_origin.getMessages();
+  auto &new_msgs = dbc_from_generated.getMessages();
+  for (auto &[id, m] : msgs) {
+    auto &new_m = new_msgs.at(id);
+    REQUIRE(m.name == new_m.name);
+    REQUIRE(m.size == new_m.size);
+    REQUIRE(m.getSignals().size() == new_m.getSignals().size());
+    auto sigs = m.getSignals();
+    auto new_sigs = new_m.getSignals();
+    for (int i = 0; i < sigs.size(); ++i) {
+      REQUIRE(*sigs[i] == *new_sigs[i]);
+    }
+  }
+}
+
+TEST_CASE("parse_dbc") {
+  QString 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
+
+BO_ 162 message_1: 8 XXX
+  SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX
+  SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
+
+VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
+
+CM_ BO_ 160 "message comment" ;
+CM_ SG_ 160 signal_1 "signal comment";
+CM_ SG_ 160 signal_2 "multiple line comment 
+1
+2
+";)";
+
+  DBCFile file("", content);
+  auto msg = file.msg(160);
+  REQUIRE(msg != nullptr);
+  REQUIRE(msg->name == "message_1");
+  REQUIRE(msg->size == 8);
+  REQUIRE(msg->comment == "message comment");
+  REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->transmitter == "EON");
+  REQUIRE(file.msg("message_1") != nullptr);
+
+  auto sig_1 = msg->sigs[0];
+  REQUIRE(sig_1->name == "signal_1");
+  REQUIRE(sig_1->start_bit == 0);
+  REQUIRE(sig_1->size == 12);
+  REQUIRE(sig_1->min == 0);
+  REQUIRE(sig_1->max == 4095);
+  REQUIRE(sig_1->unit == "unit");
+  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"});
+
+  auto &sig_2 = msg->sigs[1];
+  REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
+
+  // multiplexed signals
+  msg = file.msg(162);
+  REQUIRE(msg != nullptr);
+  REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor);
+  REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed);
+  REQUIRE(msg->sigs[1]->multiplex_value == 4);
+  REQUIRE(msg->sigs[1]->start_bit == 12);
+  REQUIRE(msg->sigs[1]->size == 1);
+  REQUIRE(msg->sigs[1]->receiver_name == "XXX");
+}

tools/cabana/tests/test_runner.cc

@@ -0,0 +1,10 @@
+#define CATCH_CONFIG_RUNNER
+#include "catch2/catch.hpp"
+#include <QCoreApplication>
+
+int main(int argc, char **argv) {
+  // unit tests for Qt
+  QCoreApplication app(argc, argv);
+  const int res = Catch::Session().run(argc, argv);
+  return (res < 0xff ? res : 0xff);
+}