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* Restructure * Need to resolve gtest lib linking * Building and linking work * Old tests working * Add CLI arg parsing * CLI works * Add script to run db_util * Documentation * Fix linting * Make build flow easier to follow * Fix CMake include directories
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,5 @@ | ||
| add_subdirectory(cmn_hdrs) | ||
| add_subdirectory(protofiles) | ||
| add_subdirectory(sailbot_db) | ||
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| # add directories as needed |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| set(module sailbot_db) | ||
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| set(link_libs | ||
| ${PROTOBUF_LINK_LIBS} | ||
| mongo::mongocxx_shared | ||
| mongo::bsoncxx_shared | ||
| ) | ||
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||
| set(inc_dirs | ||
| ${PROTOBUF_INCLUDE_PATH} | ||
| ${LIBMONGOCXX_INCLUDE_DIRS} | ||
| ${LIBBSONCXX_INCLUDE_DIRS} | ||
| ) | ||
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| set(srcs | ||
| ${CMAKE_CURRENT_LIST_DIR}/src/sailbot_db.cpp | ||
| ${CMAKE_CURRENT_LIST_DIR}/src/util_db.cpp | ||
| ) | ||
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| # make sailbot_db library | ||
| make_lib(${module} "${srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}") | ||
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| set(bin_srcs | ||
| ${srcs} | ||
| ${CMAKE_CURRENT_LIST_DIR}/src/main.cpp | ||
| ) | ||
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| # Make executable | ||
| make_exe(${module} "${bin_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}") | ||
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| # Create unit test | ||
| set(test_srcs | ||
| ${srcs} | ||
| ${CMAKE_CURRENT_LIST_DIR}/test/test_sailbot_db.cpp | ||
| ) | ||
| make_unit_test(${module} "${test_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| #pragma once | ||
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| #include <random> | ||
| #include <span> | ||
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| #include "sailbot_db.h" | ||
| #include "sensors.pb.h" | ||
| #include "utils/utils.h" | ||
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| class UtilDB : public SailbotDB | ||
| { | ||
| public: | ||
| static constexpr int NUM_AIS_SHIPS = 15; // arbitrary number | ||
| static constexpr int NUM_GENERIC_SENSORS = 5; // arbitrary number | ||
| static constexpr int NUM_PATH_WAYPOINTS = 5; // arbitrary number | ||
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| /** | ||
| * @brief Construct a UtilDB, which has debug utilities for SailbotDB | ||
| * | ||
| * @param db_name | ||
| * @param mongodb_conn_str | ||
| * @param rng | ||
| */ | ||
| UtilDB(const std::string & db_name, const std::string & mongodb_conn_str, std::shared_ptr<std::mt19937> rng); | ||
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| /** | ||
| * @brief Delete all documents in all collections | ||
| */ | ||
| void cleanDB(); | ||
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| /** | ||
| * @brief Generate random data for all sensors | ||
| * | ||
| * @return Sensors object | ||
| */ | ||
| Polaris::Sensors genRandSensors(); | ||
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| /** | ||
| * @return timestamp for the current time | ||
| */ | ||
| static std::tm getTimestamp(); | ||
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| /** | ||
| * @brief Generate random sensors and Iridium msg info | ||
| * | ||
| * @param tm Timestamp returned by getTimestamp() (with any modifications made to it) | ||
| * @return std::pair<Sensors, SailbotDB::RcvdMsgInfo> | ||
| */ | ||
| std::pair<Polaris::Sensors, SailbotDB::RcvdMsgInfo> genRandData(const std::tm & tm); | ||
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| /** | ||
| * @brief Query the database and check that the sensor and message are correct | ||
| * | ||
| * @param expected_sensors | ||
| * @param expected_msg_info | ||
| */ | ||
| bool verifyDBWrite( | ||
| std::span<Polaris::Sensors> expected_sensors, std::span<SailbotDB::RcvdMsgInfo> expected_msg_info); | ||
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| /** | ||
| * @brief Dump and check all sensors and timestamps from the database | ||
| * | ||
| * @param tracker FailureTracker that gets if any unexpected results are dumped | ||
| * @param expected_num_docs Expected number of documents. tracker is updated if there's a mismatch | ||
| * @return std::pair{Vector of dumped Sensors, Vector of dumped timestamps} | ||
| */ | ||
| std::pair<std::vector<Polaris::Sensors>, std::vector<std::string>> dumpSensors( | ||
| utils::FailTracker & tracker, size_t expected_num_docs = 1); | ||
|
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| private: | ||
| std::shared_ptr<std::mt19937> rng_; // random number generator | ||
|
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| /** | ||
| * @brief generate random GPS data | ||
| * | ||
| * @param gps_data GPS data to modify | ||
| */ | ||
| void genRandGpsData(Polaris::Sensors::Gps & gps_data); | ||
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| /** | ||
| * @brief generate random ais ships data | ||
| * | ||
| * @param ais_ship AIS ship data to modify | ||
| */ | ||
| void genRandAisData(Polaris::Sensors::Ais & ais_ship); | ||
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| /** | ||
| * @brief generate random generic sensor data | ||
| * | ||
| * @param generic_sensor Generic sensor data to modify | ||
| */ | ||
| void genRandGenericSensorData(Polaris::Sensors::Generic & generic_sensor); | ||
|
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| /** | ||
| * @brief generate random battery data | ||
| * | ||
| * @param battery battery data to modify | ||
| */ | ||
| void genRandBatteryData(Polaris::Sensors::Battery & battery); | ||
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| /** | ||
| * @brief generate random wind sensors data | ||
| * | ||
| * @param wind_data Wind sensor data to modify | ||
| */ | ||
| void genRandWindData(Polaris::Sensors::Wind & wind_data); | ||
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| /** | ||
| * @brief generate random path data | ||
| * | ||
| * @param path_data Path data to modify | ||
| */ | ||
| void genRandPathData(Polaris::Sensors::Path & path_data); | ||
| }; |
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