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使用GDB除錯Apollo單元測試程式


說明:本文修改後的程式碼已上傳到GitHub網站Apollo專案中。

Apollo使用Google Test框架撰寫單元測試用例。如果某個測試用例通不過,僅藉助日誌資訊,很難弄清楚詳細的失敗原因。本文介紹使用GDB除錯單元測試用例的方法,可供各位同學撰寫單元測試程式碼提供一定的幫助。

一、撰寫單元測試用例

以RelativeMap中的單元測試用例進行說明。
首先在資料夾modules/map/relative_map/testdata/multi_lane_map中增加如下測試資料檔案:chassis_info.pb.txtlocalization_info.pb.txtleft.smoothed

middle.smoothedright.smoothed
接下來增加單元測試檔案modules/map/relative_map/navigation_lane_test.cc,內部程式碼如下(涉及到的Google Test框架知識不作介紹,大家自行上網查詢):

#include "modules/map/relative_map/navigation_lane.h"

#include <string>
#include <vector>
#include "gtest/gtest.h"
#include "third_party/json/json.hpp"

#include "modules/canbus/proto/chassis.pb.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/map/relative_map/proto/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"

namespace apollo {
namespace relative_map {

using apollo::common::VehicleStateProvider;
using apollo::common::adapter::AdapterConfig;
using apollo::common::adapter::AdapterManager;
using apollo::common::adapter::AdapterManagerConfig;
using apollo::relative_map::NavigationInfo;
using apollo::relative_map::NavigationLane;
using apollo::relative_map::NavigationPath;
using nlohmann::json;

namespace {
bool GetNavigationPathFromFile(const std::string& filename,
                               NavigationPath* navigation_path) {
  CHECK_NOTNULL(navigation_path);

  std::ifstream ifs(filename, std::ios::in);
  if (!ifs.is_open()) {
    AERROR << "Failed to open " << filename;
    return false;
  }
  std::string line_str;
  while (std::getline(ifs, line_str)) {
    try {
      auto json_obj = json::parse(line_str);
      auto* point = navigation_path->mutable_path()->add_path_point();
      point->set_x(json_obj["x"]);
      point->set_y(json_obj["y"]);
      point->set_s(json_obj["s"]);
      point->set_theta(json_obj["theta"]);
      point->set_kappa(json_obj["kappa"]);
      point->set_dkappa(json_obj["dkappa"]);
    } catch (const std::exception& e) {
      AERROR << "Failed to parse JSON data: " << e.what();
      return false;
    }
  }

  return true;
}

bool GenerateNavigationInfo(
    const std::vector<std::string>& navigation_line_filenames,
    NavigationInfo* navigation_info) {
  CHECK_NOTNULL(navigation_info);

  int i = 0;
  for (const std::string& filename : navigation_line_filenames) {
    auto* navigation_path = navigation_info->add_navigation_path();
    if (!GetNavigationPathFromFile(filename, navigation_path)) {
      continue;
    }
    navigation_path->set_path_priority(i);
    navigation_path->mutable_path()->set_name("Navigation path " + i);
    ++i;
  }
  return navigation_info->navigation_path_size() > 0;
}
}  // namespace

class NavigationLaneTest : public testing::Test {
 public:
  virtual void SetUp() {
    common::adapter::AdapterManagerConfig adapter_conf;
    RelativeMapConfig config;

    EXPECT_TRUE(common::util::GetProtoFromFile(
        FLAGS_relative_map_adapter_config_filename, &adapter_conf));
    EXPECT_TRUE(common::util::GetProtoFromFile(
        FLAGS_relative_map_config_filename, &config));

    navigation_lane_.SetConfig(config.navigation_lane());
    map_param_ = config.map_param();
    navigation_lane_.SetDefaultWidth(map_param_.default_left_width(),
                                     map_param_.default_right_width());

    data_file_dir_ = "modules/map/relative_map/testdata/multi_lane_map/";

    localization::LocalizationEstimate localization;
    canbus::Chassis chassis;
    EXPECT_TRUE(common::util::GetProtoFromFile(
        data_file_dir_ + "localization_info.pb.txt", &localization));
    EXPECT_TRUE(common::util::GetProtoFromFile(
        data_file_dir_ + "chassis_info.pb.txt", &chassis));
    VehicleStateProvider::instance()->Update(localization, chassis);
  }

 protected:
  NavigationLane navigation_lane_;
  NavigationInfo navigation_info_;
  MapGenerationParam map_param_;
  std::vector<std::string> navigation_line_filenames_;
  std::string data_file_dir_;
};

TEST_F(NavigationLaneTest, GenerateOneLaneMap) {
  navigation_line_filenames_.clear();
  navigation_info_.Clear();
  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
  EXPECT_TRUE(
      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
  navigation_lane_.UpdateNavigationInfo(navigation_info_);
  EXPECT_TRUE(navigation_lane_.GeneratePath());
  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);

  MapMsg map_msg;
  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
  EXPECT_EQ(1, map_msg.hdmap().lane_size());
}

TEST_F(NavigationLaneTest, GenerateTwoLaneMap) {
  navigation_line_filenames_.clear();
  navigation_info_.Clear();
  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
  navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
  EXPECT_TRUE(
      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
  navigation_lane_.UpdateNavigationInfo(navigation_info_);
  EXPECT_TRUE(navigation_lane_.GeneratePath());
  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);

  MapMsg map_msg;
  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
  EXPECT_EQ(2, map_msg.hdmap().lane_size());
}

TEST_F(NavigationLaneTest, GenerateThreeLaneMap) {
  navigation_line_filenames_.clear();
  navigation_info_.Clear();
  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
  navigation_line_filenames_.emplace_back(data_file_dir_ + "middle.smoothed");
  navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
  EXPECT_TRUE(
      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
  navigation_lane_.UpdateNavigationInfo(navigation_info_);
  EXPECT_TRUE(navigation_lane_.GeneratePath());
  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);

  MapMsg map_msg;
  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
  EXPECT_EQ(3, map_msg.hdmap().lane_size());
}

}  // namespace relative_map
}  // namespace apollo

最後,在編譯檔案modules/map/relative_map/BUILD中新增如下內容:

filegroup(
    name = "testdata",
    srcs = glob([
        "testdata/**",
    ]),
)

cc_test(
    name = "navigation_lane_test",
    size = "small",
    srcs = [
        "navigation_lane_test.cc",
    ], 
    data = [
        ":testdata",
    ],   
    deps = [
        ":relative_map_lib",
        "//modules/common",        
        "//third_party/json",
        "@gtest//:main",
    ],
)

重新編譯整個Apollo專案。

二、使用GDB除錯測試用例

重新編譯Apollo專案後,會在bazel-bin/modules/map/relative_map/目錄中生成可執行程式navigation_lane_test,直接使用GDB在Docker中除錯該程式即可,具體操作步驟如下:

1. 啟動並進入Apollo專案的Docker

# 進入Apollo專案根目錄(我的路徑為:`~/code/apollo`,你需要修改為自己的路徑)
cd ~/code/apollo
# 啟動Apollo專案的Docker(注意:2.0以上版本在後面加上一個“-C”選項,
# 表示從中國伺服器拉取映象檔案,以加快下載速度)
bash docker/scripts/dev_start.sh
# 進入Docker
bash docker/scripts/dev_into.sh

2. 在Docker內部使用GDB除錯

gdb -q bazel-bin/modules/map/relative_map/navigation_lane_test

進入GDB除錯介面後,使用l命令檢視原始碼,使用b 138在原始碼第138行(可根據需要修改為自己所需的程式碼位置 )設定斷點,使用r命令執行navigation_lane_test程式,進入斷點暫停後,使用p navigation_lane_檢視當前變數值(可根據需要修改為其他變數名),使用n單步除錯一條語句,使用s單步除錯進入函式內部,使用c繼續執行後續程式。如果哪個部分測試通不過,除錯資訊會立刻告訴你具體原因,可使用bt檢視當前呼叫堆疊。
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