使用GDB调试Apollo单元测试程序

严正声明：本文系作者davidhopper原创，未经许可，不得转载。
说明：本文修改后的代码已上传到GitHub网站Apollo项目中。

Apollo使用Google Test框架撰写单元测试用例。如果某个测试用例通不过，仅借助日志信息，很难弄清楚详细的失败原因。本文介绍使用GDB调试单元测试用例的方法，可供各位同学撰写单元测试代码提供一定的帮助。

一、撰写单元测试用例

以RelativeMap中的单元测试用例进行说明。
首先在文件夹modules/map/relative_map/testdata/multi_lane_map中增加如下测试数据文件：chassis_info.pb.txt、localization_info.pb.txt、left.smoothed、middle.smoothed、right.smoothed。
接下来增加单元测试文件modules/map/relative_map/navigation_lane_test.cc，内部代码如下（涉及到的Google Test框架知识不作介绍，大家自行上网查询）：

#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

最后，在编译文件modules/map/relative_map/BUILD中添加如下内容：

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",
    ],
)

重新编译整个Apollo项目。

二、使用GDB调试测试用例

重新编译Apollo项目后，会在bazel-bin/modules/map/relative_map/目录中生成可执行程序navigation_lane_test，直接使用GDB在Docker中调试该程序即可，具体操作步骤如下：

1. 启动并进入Apollo项目的Docker

# 进入Apollo项目根目录（我的路径为：`~/code/apollo`，你需要修改为自己的路径）
cd ~/code/apollo
# 启动Apollo项目的Docker（注意：2.0以上版本在后面加上一个“-C”选项，
# 表示从中国服务器拉取镜像文件，以加快下载速度）
bash docker/scripts/dev_start.sh
# 进入Docker
bash docker/scripts/dev_into.sh

2. 在Docker内部使用GDB调试

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

进入GDB调试界面后，使用l命令查看源代码，使用b 138在源代码第138行（可根据需要修改为自己所需的代码位置 ）设置断点，使用r命令运行navigation_lane_test程序，进入断点暂停后，使用p navigation_lane_查看当前变量值（可根据需要修改为其他变量名），使用n单步调试一条语句，使用s单步调试进入函数内部，使用c继续执行后续程序。如果哪个部分测试通不过，调试信息会立刻告诉你具体原因，可使用bt查看当前调用堆栈。