robocars/robocar-arduino
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fix(channel6): ignore 'no value' signal for drive mode

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cyrilix committed 2022-08-18 18:22:24 +02:00
1 parent 4f17175e01
commit 14d5c605e7
2 files changed
+17 -3
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pkg/arduino/arduino_test.go
+12 -2
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@@ -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()