From 14d5c605e7686e8fa5283e07624c3360dcbb9b3b Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Thu, 18 Aug 2022 18:22:24 +0200
Subject: [PATCH] fix(channel6): ignore 'no value' signal for drive mode

---
 pkg/arduino/arduino.go      |  6 +++++-
 pkg/arduino/arduino_test.go | 14 ++++++++++++--
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/pkg/arduino/arduino.go b/pkg/arduino/arduino.go
index 4d12768..6e356de 100644
--- a/pkg/arduino/arduino.go
+++ b/pkg/arduino/arduino.go
@@ -21,7 +21,7 @@ const (
 )
 
 var (
-	serialLineRegex    = regexp.MustCompile(`(?P<timestamp>\d+),(?P<channel_1>\d+),(?P<channel_2>\d+),(?P<channel_3>\d+),(?P<channel_4>\d+),(?P<channel_5>\d+),(?P<channel_6>\d+),(?P<channel_7>\d+),(?P<channel_8>\d+),(?P<frequency>\d+)`)
+	serialLineRegex    = regexp.MustCompile(`(?P<timestamp>\d+),(?P<channel_1>\d+),(?P<channel_2>\d+),(?P<channel_3>\d+),(?P<channel_4>\d+),(?P<channel_5>\d+),(?P<channel_6>-?\d+),(?P<channel_7>\d+),(?P<channel_8>\d+),(?P<frequency>\d+)`)
 	DefaultPwmThrottle = PWMConfig{
 		Min:    MinPwmThrottle,
 		Max:    MaxPwmThrottle,
@@ -255,6 +255,10 @@ func (a *Part) processChannel6(v string) {
 		zap.S().Errorf("invalid value for channel6 'drive-mode', should be an int: %v", err)
 		return
 	}
+	if value < 0 {
+		// No value, ignore it
+		return
+	}
 	if value > 1800 {
 		if a.driveMode != events.DriveMode_PILOT {
 			zap.S().Infof("Update channel 6 'drive-mode' with value %v, new user_mode: %v", value, events.DriveMode_PILOT)
diff --git a/pkg/arduino/arduino_test.go b/pkg/arduino/arduino_test.go
index ba9c1c8..7fa2f16 100644
--- a/pkg/arduino/arduino_test.go
+++ b/pkg/arduino/arduino_test.go
@@ -81,9 +81,9 @@ func TestArduinoPart_Update(t *testing.T) {
 			fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
 			defaultPwmThrottleConfig, -1., -1.,
 			events.DriveMode_USER, false},
-		{"Unparsable line",
+		{"Invalid line",
 			"12350,invalid line\n", defaultPwmThrottleConfig,
-			-1., -1., events.DriveMode_USER, false},
+			-1., -1., events.DriveMode_INVALID, false},
 		{"Switch record on",
 			fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 998, channel6, channel7, channel8),
 			defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, true},
@@ -150,6 +150,15 @@ func TestArduinoPart_Update(t *testing.T) {
 		{"Use 2nd rc: use channels 7 and 8",
 			fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1000, 1000, 1950, channel4, channel5, channel6, 2000, 2008),
 			defaultPwmThrottleConfig, 1., 1, events.DriveMode_USER, false},
+		{"Drive Mode: user",
+			fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, 900, channel7, channel8),
+			defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
+		{"Drive Mode: pilot",
+			fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, 1950, channel7, channel8),
+			defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
+		{"Drive Mode: no value",
+			fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel6, channel3, channel4, channel5, -1, channel7, channel8),
+			defaultPwmThrottleConfig, -1., -1., events.DriveMode_INVALID, false},
 	}
 
 	for _, c := range cases {
@@ -165,6 +174,7 @@ func TestArduinoPart_Update(t *testing.T) {
 			}
 
 			a.pwmThrottleConfig = c.throttlePwmConfig
+			a.driveMode = events.DriveMode_INVALID
 
 			time.Sleep(10 * time.Millisecond)
 			a.mutex.Lock()