131 lines
4.3 KiB
C++
131 lines
4.3 KiB
C++
#define CATCH_CONFIG_MAIN
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#define CATCH_CONFIG_ENABLE_BENCHMARKING
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#include <random>
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#include "catch2/catch.hpp"
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/boardd/panda.h"
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const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
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int random_int(int min, int max) {
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std::random_device dev;
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std::mt19937 rng(dev());
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std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
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return dist(rng);
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}
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struct PandaTest : public Panda {
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PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
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void test_can_send();
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void test_can_recv();
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std::map<int, std::string> test_data;
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int can_list_size = 0;
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int total_pakets_size = 0;
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MessageBuilder msg;
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capnp::List<cereal::CanData>::Reader can_data_list;
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};
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PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) {
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this->hw_type = hw_type;
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int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
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// prepare test data
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for (int i = 0; i < data_limit; ++i) {
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std::random_device rd;
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std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
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int data_len = dlc_to_len[i];
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std::string bytes(data_len, '\0');
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std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
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test_data[data_len] = bytes;
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}
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// generate can messages for this panda
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auto can_list = msg.initEvent().initSendcan(can_list_size);
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for (uint8_t i = 0; i < can_list_size; ++i) {
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auto can = can_list[i];
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uint32_t id = random_int(0, std::size(dlc_to_len) - 1);
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const std::string &dat = test_data[dlc_to_len[id]];
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can.setAddress(i);
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can.setSrc(random_int(0, 3) + bus_offset);
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can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
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total_pakets_size += CANPACKET_HEAD_SIZE + dat.size();
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}
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can_data_list = can_list.asReader();
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INFO("test " << can_list_size << " packets, total size " << total_pakets_size);
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}
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void PandaTest::test_can_send() {
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std::vector<uint8_t> unpacked_data;
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this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
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int size_left = size;
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for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) {
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REQUIRE(chunk[i] == counter);
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const int len = std::min(USBPACKET_MAX_SIZE, size_left);
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unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]);
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size_left -= len;
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}
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});
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REQUIRE(unpacked_data.size() == total_pakets_size);
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int cnt = 0;
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INFO("test can message integrity");
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for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
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can_header header;
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memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE);
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const uint8_t data_len = dlc_to_len[header.data_len_code];
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pckt_len = CANPACKET_HEAD_SIZE + data_len;
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REQUIRE(header.addr == cnt);
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REQUIRE(test_data.find(data_len) != test_data.end());
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const std::string &dat = test_data[data_len];
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REQUIRE(memcmp(dat.data(), &unpacked_data[pos + 5], dat.size()) == 0);
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++cnt;
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}
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REQUIRE(cnt == can_list_size);
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}
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void PandaTest::test_can_recv() {
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std::vector<can_frame> frames;
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this->pack_can_buffer(can_data_list, [&](uint8_t *data, size_t size) {
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this->unpack_can_buffer(data, size, frames);
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});
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REQUIRE(frames.size() == can_list_size);
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for (int i = 0; i < frames.size(); ++i) {
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REQUIRE(frames[i].address == i);
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REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end());
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const std::string &dat = test_data[frames[i].dat.size()];
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REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0);
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}
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}
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TEST_CASE("send/recv CAN 2.0 packets") {
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auto bus_offset = GENERATE(0, 4);
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auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
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PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS);
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SECTION("can_send") {
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test.test_can_send();
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}
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SECTION("can_receive") {
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test.test_can_recv();
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}
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}
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TEST_CASE("send/recv CAN FD packets") {
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auto bus_offset = GENERATE(0, 4);
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auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
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PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA);
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SECTION("can_send") {
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test.test_can_send();
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}
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SECTION("can_receive") {
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test.test_can_recv();
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}
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}
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