robocars/robocar-arduino
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This commit is contained in:
Cyrille Nofficial
2019-11-30 19:03:07 +01:00
commit 832459ee7c
6 changed files with 322 additions and 0 deletions
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1
.gitignore vendored Normal file
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# Created by .ignore support plugin (hsz.mobi)

148
arduino/arduino_test.go Normal file
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package arduino
import (
"bufio"
"fmt"
"net"
"robocar/mode"
"testing"
"time"
)
func TestArduinoPart_Update(t *testing.T) {
ln, err := net.Listen("tcp", ":8080")
if err != nil {
t.Fatalf("unable to init connection for test")
}
defer ln.Close()
client, err := net.Dial("tcp", "localhost:8080")
if err != nil {
t.Fatalf("unable to init connection for test")
}
defer client.Close()
conn, err := ln.Accept()
if err != nil {
t.Fatalf("unable to init connection for test")
}
defer conn.Close()
a := ArduinoPart{serial: conn}
go a.Run()
channel1, channel2, channel3, channel4, channel5, channel6, distanceCm := 678, 910, 1112, 1678, 1910, 112, 128
cases := []struct {
name, content string
expectedThrottle, expectedSteering float32
expectedDriveMode mode.DriveMode
expectedSwitchRecord bool
expectedDistanceCm int
}{
{"Good value",
fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Unparsable line",
"12350,invalid line\n",
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Switch record on",
fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm),
-1., -1., mode.DriveModeUser, true, distanceCm},
{"Switch record off",
fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Switch record off",
fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Switch record on",
fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm),
-1., -1., mode.DriveModeUser, true, distanceCm},
{"DriveMode: user",
fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"DriveMode: pilot",
fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm),
-1., -1., mode.DriveModePilot, false, distanceCm},
{"DriveMode: pilot",
fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm),
-1., -1., mode.DriveModePilot, false, distanceCm},
// DriveMode: user
{"DriveMode: user",
fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1003, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Sterring: over left",
fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Sterring: left",
fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", 998, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -0.93, mode.DriveModeUser, false, distanceCm},
{"Sterring: middle",
fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -0.04, mode.DriveModeUser, false, distanceCm},
{"Sterring: right",
fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., 0.96, mode.DriveModeUser, false, distanceCm},
{"Sterring: over right",
fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., 1., mode.DriveModeUser, false, distanceCm},
{"Throttle: over down",
fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 99, channel3, channel4, channel5, channel6, distanceCm),
-1., -1., mode.DriveModeUser, false, distanceCm},
{"Throttle: down",
fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 998, channel3, channel4, channel5, channel6, distanceCm),
-0.95, -1., mode.DriveModeUser, false, distanceCm},
{"Throttle: stop",
fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm),
-0.03, -1., mode.DriveModeUser, false, distanceCm},
{"Throttle: up",
fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm),
0.99, -1., mode.DriveModeUser, false, distanceCm},
{"Throttle: over up",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm),
1., -1., mode.DriveModeUser, false, distanceCm},
{"Distance cm",
fmt.Sprintf("12445,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, 43),
-1., -1., mode.DriveModeUser, false, 43},
}
for _, c := range cases {
w := bufio.NewWriter(client)
_, err := w.WriteString(c.content)
if err != nil {
t.Errorf("unable to send test content: %v", c.content)
}
err = w.Flush()
if err != nil {
t.Error("unable to flush content")
}
time.Sleep(1* time.Millisecond)
a.mutex.Lock()
if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
}
if fmt.Sprintf("%0.2f", a.steering) != fmt.Sprintf("%0.2f", c.expectedSteering) {
t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.steering)
}
if a.driveMode != c.expectedDriveMode {
t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.driveMode)
}
if a.ctrlRecord != c.expectedSwitchRecord {
t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
}
if a.distanceCm != c.expectedDistanceCm {
t.Errorf("%s: bad distanceCm, expected: %v" +
", actual:%v", c.name, c.expectedDistanceCm, a.distanceCm)
}
a.mutex.Unlock()
}
}

0
mode/mode.go Normal file
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85
mqttdevice/mqttdevice.go Normal file
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package mqttdevice
import (
"fmt"
MQTT "github.com/eclipse/paho.mqtt.golang"
"io"
"log"
)
type Publisher interface {
Publish(topic string, payload interface{})
}
type Subscriber interface {
Subscribe(topic string, mh MQTT.MessageHandler)
}
type MQTTPubSub interface {
Publisher
Subscriber
io.Closer
}
type pahoMqttPubSub struct {
Uri string
Username string
Password string
ClientId string
Qos int
Retain bool
client MQTT.Client
}
func NewPahoMqttPubSub(uri string, username string, password string, clientId string, qos int, retain bool) MQTTPubSub {
p := pahoMqttPubSub{Uri: uri, Username: username, Password: password, ClientId: clientId, Qos: qos, Retain: retain}
p.Connect()
return &p
}
// Publish message to broker
func (p *pahoMqttPubSub) Publish(topic string, payload interface{}) {
tokenResp := p.client.Publish(topic, byte(p.Qos), p.Retain, payload)
if tokenResp.Error() != nil {
log.Fatalf("%+v\n", tokenResp.Error())
}
}
// Register func to execute on message
func (p *pahoMqttPubSub) Subscribe(topic string, callback MQTT.MessageHandler) {
tokenResp := p.client.Subscribe(topic, byte(p.Qos), callback)
if tokenResp.Error() != nil {
log.Fatalf("%+v\n", tokenResp.Error())
}
}
// Close connection to broker
func (p *pahoMqttPubSub) Close() error {
p.client.Disconnect(500)
return nil
}
func (p *pahoMqttPubSub) Connect() {
if p.client != nil && p.client.IsConnected() {
return
}
//create a ClientOptions struct setting the broker address, clientid, turn
//off trace output and set the default message handler
opts := MQTT.NewClientOptions().AddBroker(p.Uri)
opts.SetUsername(p.Username)
opts.SetPassword(p.Password)
opts.SetClientID(p.ClientId)
opts.SetAutoReconnect(true)
opts.SetDefaultPublishHandler(
//define a function for the default message handler
func(client MQTT.Client, msg MQTT.Message) {
fmt.Printf("TOPIC: %s\n", msg.Topic())
fmt.Printf("MSG: %s\n", msg.Payload())
})
//create and start a client using the above ClientOptions
p.client = MQTT.NewClient(opts)
if token := p.client.Connect(); token.Wait() && token.Error() != nil {
panic(token.Error())
}
}

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mqttdevice/mqttdevice_test.go Normal file
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package mqttdevice
import (
mqtt "github.com/eclipse/paho.mqtt.golang"
"testing"
"warmup4ie2mqtt/testtools"
)
func TestIntegration(t *testing.T) {
ctx, mqttC, mqttUri := testtools.MqttContainer(t)
defer mqttC.Terminate(ctx)
t.Run("ConnectAndClose", func(t *testing.T) {
t.Logf("Mqtt connection %s ready", mqttUri)
p := pahoMqttPubSub{Uri: mqttUri, ClientId: "TestMqtt", Username: "guest", Password: "guest"}
p.Connect()
p.Close()
})
t.Run("Publish", func(t *testing.T) {
options := mqtt.NewClientOptions().AddBroker(mqttUri)
options.SetUsername("guest")
options.SetPassword("guest")
client := mqtt.NewClient(options)
token := client.Connect()
defer client.Disconnect(100)
token.Wait()
if token.Error() != nil {
t.Fatalf("unable to connect to mqtt broker: %v\n", token.Error())
}
c := make(chan string)
defer close(c)
client.Subscribe("test/publish", 0, func(client mqtt.Client, message mqtt.Message) {
c <- string(message.Payload())
}).Wait()
p := pahoMqttPubSub{Uri: mqttUri, ClientId: "TestMqtt", Username: "guest", Password: "guest"}
p.Connect()
defer p.Close()
p.Publish("test/publish", "Test1234")
result := <-c
if result != "Test1234" {
t.Fatalf("bad message: %v\n", result)
}
})
}

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testtools/testtools.go Normal file
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package testtools
import (
"context"
"fmt"
"github.com/testcontainers/testcontainers-go"
"github.com/testcontainers/testcontainers-go/wait"
"testing"
)
func MqttContainer(t *testing.T) (context.Context, testcontainers.Container, string) {
ctx := context.Background()
req := testcontainers.ContainerRequest{
Image: "eclipse-mosquitto",
ExposedPorts: []string{"1883/tcp"},
WaitingFor: wait.ForLog("listen socket on port 1883."),
}
mqttC, err := testcontainers.GenericContainer(ctx, testcontainers.GenericContainerRequest{
ContainerRequest: req,
Started: true,
})
if err != nil {
t.Error(err)
}
ip, err := mqttC.Host(ctx)
if err != nil {
t.Error(err)
}
port, err := mqttC.MappedPort(ctx, "1883/tcp")
if err != nil {
t.Error(err)
}
mqttUri := fmt.Sprintf("tcp://%s:%d", ip, port.Int())
return ctx, mqttC, mqttUri
}