robocars/robocar-arduino
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

refactor: generalise channel management

Browse Source
This commit is contained in:
Cyrille Nofficial 2022-08-09 17:00:58 +02:00
parent 973ebb9df9
commit e64c7ff559
2 changed files with 67 additions and 77 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
pkg/arduino/arduino.go
View File

@ -21,7 +21,7 @@ const (
) )
var ( 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<frequency>\d+),(?P<distance_cm>\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+)`)
) )
type Part struct { type Part struct {

94
pkg/arduino/arduino_test.go
View File

@ -71,7 +71,7 @@ func TestArduinoPart_Update(t *testing.T) {
} }
}() }()
channel1, channel2, channel3, channel4, channel5, channel6, distanceCm := 678, 910, 1112, 1678, 1910, 112, 128 channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8 := 678, 910, 1112, 1678, 1910, 112, 0, 0
cases := []struct { cases := []struct {
name, content string name, content string
throttlePwmConfig PWMThrottleConfig throttlePwmConfig PWMThrottleConfig
@ -80,90 +80,79 @@ func TestArduinoPart_Update(t *testing.T) {
expectedSwitchRecord bool expectedSwitchRecord bool
}{ }{
{"Good value", {"Good value",
fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, -1., -1., defaultPwmThrottleConfig, -1., -1.,
events.DriveMode_USER, false}, events.DriveMode_USER, false},
{"Unparsable line", {"Unparsable line",
"12350,invalid line\n", defaultPwmThrottleConfig, "12350,invalid line\n", defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false}, -1., -1., events.DriveMode_USER, false},
{"Switch record on", {"Switch record on",
fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 998, channel6, channel7, channel8),
-1., -1., events.DriveMode_USER, true}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, true},
{"Switch record off", {"Switch record off",
fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1987, channel6, channel7, channel8),
-1., -1., events.DriveMode_USER, false}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
{"Switch record off", {"Switch record off",
fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1850, channel6, channel7, channel8),
-1., -1., events.DriveMode_USER, false}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
{"Switch record on", {"Switch record on",
fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, 1003, channel6, channel7, channel8),
-1., -1., events.DriveMode_USER, true}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, true},
{"DriveMode: user", {"DriveMode: user",
fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 998, channel7, channel8),
-1., -1., events.DriveMode_USER, false}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
{"DriveMode: pilot", {"DriveMode: pilot",
fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1987, channel7, channel8),
-1., -1., events.DriveMode_PILOT, false}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
{"DriveMode: pilot", {"DriveMode: pilot",
fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm), defaultPwmThrottleConfig, fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1850, channel7, channel8),
-1., -1., events.DriveMode_PILOT, false}, defaultPwmThrottleConfig, -1., -1., events.DriveMode_PILOT, false},
// DriveMode: user // DriveMode: user
{"DriveMode: user", {"DriveMode: user",
fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1003, distanceCm), fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, channel2, channel3, channel4, channel5, 1003, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
-1., -1., events.DriveMode_USER, false},
{"Sterring: over left", {"Sterring: over left", fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 99, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm), defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
defaultPwmThrottleConfig,
-1., -1., events.DriveMode_USER, false},
{"Sterring: left", {"Sterring: left",
fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", int(MinPwmAngle+40), channel2, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,%d,%d,50\n", int(MinPwmAngle+40), channel2, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., -0.92, events.DriveMode_USER, false},
-1., -0.92, events.DriveMode_USER, false},
{"Sterring: middle", {"Sterring: middle",
fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1450, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., -0.09, events.DriveMode_USER, false},
-1., -0.09, events.DriveMode_USER, false},
{"Sterring: right", {"Sterring: right",
fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1958, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., 0.95, events.DriveMode_USER, false},
-1., 0.95, events.DriveMode_USER, false},
{"Sterring: over right", {"Sterring: over right",
fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 2998, channel2, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., 1., events.DriveMode_USER, false},
-1., 1., events.DriveMode_USER, false},
{"Throttle: over down", {"Throttle: over down",
fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 99, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 99, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -1., -1., events.DriveMode_USER, false},
-1., -1., events.DriveMode_USER, false},
{"Throttle: down", {"Throttle: down",
fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 998, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 998, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, -0.95, -1., events.DriveMode_USER, false},
-0.95, -1., events.DriveMode_USER, false},
{"Throttle: stop", {"Throttle: stop",
fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1450, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, 0.0, -1., events.DriveMode_USER, false},
0.0, -1., events.DriveMode_USER, false},
{"Throttle: up", {"Throttle: up",
fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1948, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, 0.99, -1., events.DriveMode_USER, false},
0.99, -1., events.DriveMode_USER, false},
{"Throttle: over up", {"Throttle: over up",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 2998, channel3, channel4, channel5, channel6, channel7, channel8),
defaultPwmThrottleConfig, defaultPwmThrottleConfig, 1., -1., events.DriveMode_USER, false},
1., -1., events.DriveMode_USER, false},
{"Throttle: zero not middle", {"Throttle: zero not middle",
fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1600, channel3, channel4, channel5, channel6, distanceCm), fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1600, channel3, channel4, channel5, channel6, channel7, channel8),
PWMThrottleConfig{1000, 1700, 1500}, PWMThrottleConfig{1000, 1700, 1500},
0.5, -1., events.DriveMode_USER, false}, 0.5, -1., events.DriveMode_USER, false},
} }
for _, c := range cases { for _, c := range cases {
t.Run(c.name, func(t *testing.T) {
w := bufio.NewWriter(serialClient) w := bufio.NewWriter(serialClient)
_, err := w.WriteString(c.content) _, err := w.WriteString(c.content)
if err != nil { if err != nil {
@ -178,6 +167,7 @@ func TestArduinoPart_Update(t *testing.T) {
time.Sleep(10 * time.Millisecond) time.Sleep(10 * time.Millisecond)
a.mutex.Lock() a.mutex.Lock()
a.mutex.Unlock()
if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) { 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) t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
} }
@ -190,7 +180,7 @@ func TestArduinoPart_Update(t *testing.T) {
if a.ctrlRecord != c.expectedSwitchRecord { if a.ctrlRecord != c.expectedSwitchRecord {
t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord) t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
} }
a.mutex.Unlock() })
} }
} }