Sync: commaai/msgq:master → sunnypilot/msgq:master

SConscript

@@ -31,6 +31,6 @@ envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.
                   LIBS=vipc_libs)
 
 if GetOption('extras'):
-  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq]+common)
+  env.Program('msgq/test_runner', ['msgq/msgq_tests.cc'], LIBS=[msgq]+common)
 
 Export('visionipc', 'msgq', 'msgq_python')

SConstruct

@@ -2,7 +2,6 @@ import os
 import platform
 import subprocess
 import sysconfig
-import catch2
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -11,7 +10,6 @@ if platform.system() == "Darwin":
 common = []
 
 cpppath = [
-  catch2.INCLUDE_DIR,
   "#/",
   '#msgq/',
   '/usr/lib/include',

lefthook.yml

@@ -18,12 +18,12 @@ test:
     ty:
       run: ty check .
     codespell:
-      run: codespell {files} -L ned,stdio,master --builtin clear,rare,informal,usage,code,names,en-GB_to_en-US -S uv.lock,*_pyx.cpp,catch2*
+      run: codespell {files} -L ned,stdio,master --builtin clear,rare,informal,usage,code,names,en-GB_to_en-US -S uv.lock,*_pyx.cpp
       files: git ls-tree -r HEAD --name-only
     cppcheck:
       run: cppcheck --error-exitcode=1 --inline-suppr --language=c++ --force --quiet -j4 --check-level=exhaustive $(git ls-files '*.cc' | grep -v -E '(msgq_tests|test_runner)\.cc')
     cpplint:
-      run: cpplint --exclude=msgq/catch2/ --exclude=msgq/ipc_pyx.cpp --exclude=msgq/visionipc/visionipc_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces msgq/
+      run: cpplint --exclude=msgq/ipc_pyx.cpp --exclude=msgq/visionipc/visionipc_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces msgq/
 
     # *** tests ***
     test_runner:

msgq/msgq_tests.cc

@@ -1,4 +1,4 @@
-#include <catch2/catch.hpp>
+#include "msgq/test_runner.h"
 #include "msgq/msgq.h"
 
 static void cleanup_test_queue() {
@@ -71,39 +71,32 @@ TEST_CASE("msgq_init_subscriber")
 
 TEST_CASE("msgq_msg_send first message")
 {
-  cleanup_test_queue();
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE(*q.write_pointer == 0);
-
-  size_t msg_size = 128;
-
-  SECTION("Aligned message size")
+  const size_t msg_sizes[] = {128, 127};
+  for (size_t msg_size : msg_sizes)
   {
-  }
-  SECTION("Unaligned message size")
-  {
-    msg_size--;
-  }
-  char *data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++)
-  {
-    data[i] = i;
-  }
+    cleanup_test_queue();
+    msgq_queue_t q;
+    msgq_new_queue(&q, "test_queue", 1024);
+    msgq_init_publisher(&q);
+
+    REQUIRE(*q.write_pointer == 0);
+    char *data = new char[msg_size];
+    for (size_t i = 0; i < msg_size; i++)
+    {
+      data[i] = i;
+    }
 
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
+    msgq_msg_t msg;
+    msgq_msg_init_data(&msg, data, msg_size);
 
-  msgq_msg_send(&msg, &q);
-  REQUIRE(*(int64_t *)q.data == msg_size); // Check size tag
-  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
-  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
+    msgq_msg_send(&msg, &q);
+    REQUIRE(*(int64_t *)q.data == msg_size); // Check size tag
+    REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
+    REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
 
-  delete[] data;
-  msgq_msg_close(&msg);
+    delete[] data;
+    msgq_msg_close(&msg);
+  }
 }
 
 TEST_CASE("msgq_msg_send test wraparound")
@@ -140,84 +133,85 @@ TEST_CASE("msgq_msg_send test wraparound")
 
 TEST_CASE("msgq_msg_recv test wraparound")
 {
-  cleanup_test_queue();
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
+  const bool keep_up_cases[] = {false, true};
+  for (bool keep_up_with_writer : keep_up_cases)
+  {
+    cleanup_test_queue();
+    msgq_queue_t q_pub, q_sub;
+    msgq_new_queue(&q_pub, "test_queue", 1024);
+    msgq_new_queue(&q_sub, "test_queue", 1024);
 
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
+    msgq_init_publisher(&q_pub);
+    msgq_init_subscriber(&q_sub);
 
-  REQUIRE((*q_pub.write_pointer >> 32) == 0);
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
+    REQUIRE((*q_pub.write_pointer >> 32) == 0);
+    REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
 
-  const size_t msg_size = 120;
-  msgq_msg_t msg1;
-  msgq_msg_init_size(&msg1, msg_size);
+    const size_t msg_size = 120;
+    msgq_msg_t msg1;
+    msgq_msg_init_size(&msg1, msg_size);
 
-  SECTION("Check cycle counter after reset")
-  {
     for (int i = 0; i < 8; i++)
     {
       msgq_msg_send(&msg1, &q_pub);
+      if (keep_up_with_writer)
+      {
+        msgq_msg_t msg2;
+        msgq_msg_recv(&msg2, &q_sub);
+        REQUIRE(msg2.size > 0);
+        msgq_msg_close(&msg2);
+      }
     }
 
-    msgq_msg_t msg2;
-    msgq_msg_recv(&msg2, &q_sub);
-    REQUIRE(msg2.size == 0); // Reader had to reset
-    msgq_msg_close(&msg2);
-  }
-  SECTION("Check cycle counter while keeping up with writer")
-  {
-    for (int i = 0; i < 8; i++)
+    if (!keep_up_with_writer)
     {
-      msgq_msg_send(&msg1, &q_pub);
-
       msgq_msg_t msg2;
       msgq_msg_recv(&msg2, &q_sub);
-      REQUIRE(msg2.size > 0);
+      REQUIRE(msg2.size == 0); // Reader had to reset
       msgq_msg_close(&msg2);
     }
-  }
 
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
-  msgq_msg_close(&msg1);
+    REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
+    msgq_msg_close(&msg1);
+  }
 }
 
 TEST_CASE("msgq_msg_send test invalidation")
 {
-  cleanup_test_queue();
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-  *q_sub.write_pointer = (uint64_t)1 << 32;
+  for (int read_pointer_location = 0; read_pointer_location < 3; read_pointer_location++)
+  {
+    cleanup_test_queue();
+    msgq_queue_t q_pub, q_sub;
+    msgq_new_queue(&q_pub, "test_queue", 1024);
+    msgq_new_queue(&q_sub, "test_queue", 1024);
 
-  REQUIRE(*q_sub.read_valids[0] == true);
+    msgq_init_publisher(&q_pub);
+    msgq_init_subscriber(&q_sub);
+    *q_sub.write_pointer = (uint64_t)1 << 32;
 
-  SECTION("read pointer in tag")
-  {
-    *q_sub.read_pointers[0] = 0;
-  }
-  SECTION("read pointer in data section")
-  {
-    *q_sub.read_pointers[0] = 64;
-  }
-  SECTION("read pointer in wraparound section")
-  {
-    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
-    *q_sub.read_pointers[0] = 1020;
-  }
+    REQUIRE(*q_sub.read_valids[0] == true);
+    if (read_pointer_location == 0)
+    {
+      *q_sub.read_pointers[0] = 0;
+    }
+    else if (read_pointer_location == 1)
+    {
+      *q_sub.read_pointers[0] = 64;
+    }
+    else
+    {
+      *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
+      *q_sub.read_pointers[0] = 1020;
+    }
 
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, 128);
-  msgq_msg_send(&msg, &q_pub);
+    msgq_msg_t msg;
+    msgq_msg_init_size(&msg, 128);
+    msgq_msg_send(&msg, &q_pub);
 
-  REQUIRE(*q_sub.read_valids[0] == false);
+    REQUIRE(*q_sub.read_valids[0] == false);
 
-  msgq_msg_close(&msg);
+    msgq_msg_close(&msg);
+  }
 }
 
 TEST_CASE("msgq_init_subscriber init 2 subscribers")
@@ -243,7 +237,7 @@ TEST_CASE("msgq_init_subscriber init 2 subscribers")
   REQUIRE(q2.reader_id == 1);
 }
 
-TEST_CASE("Write 1 msg, read 1 msg", "[integration]")
+TEST_CASE("Write 1 msg, read 1 msg")
 {
   cleanup_test_queue();
   const size_t msg_size = 128;
@@ -279,7 +273,7 @@ TEST_CASE("Write 1 msg, read 1 msg", "[integration]")
   msgq_msg_close(&incoming_msg2);
 }
 
-TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]")
+TEST_CASE("Write 2 msg, read 2 msg - conflate = false")
 {
   cleanup_test_queue();
   const size_t msg_size = 128;
@@ -316,7 +310,7 @@ TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]")
   msgq_msg_close(&incoming_msg2);
 }
 
-TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]")
+TEST_CASE("Write 2 msg, read 2 msg - conflate = true")
 {
   cleanup_test_queue();
   const size_t msg_size = 128;
@@ -354,7 +348,7 @@ TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]")
   msgq_msg_close(&incoming_msg2);
 }
 
-TEST_CASE("1 publisher, 1 slow subscriber", "[integration]")
+TEST_CASE("1 publisher, 1 slow subscriber")
 {
   cleanup_test_queue();
   msgq_queue_t writer, reader;
@@ -397,7 +391,7 @@ TEST_CASE("1 publisher, 1 slow subscriber", "[integration]")
   REQUIRE(n_skipped == 1428);
 }
 
-TEST_CASE("1 publisher, 2 subscribers", "[integration]")
+TEST_CASE("1 publisher, 2 subscribers")
 {
   cleanup_test_queue();
   msgq_queue_t writer, reader1, reader2;