288 lines
10 KiB
Go
288 lines
10 KiB
Go
package arduino
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import (
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"bufio"
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"fmt"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"net"
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"sync"
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"testing"
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"time"
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)
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func TestArduinoPart_Update(t *testing.T) {
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oldPublish := publish
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defer func() { publish = oldPublish }()
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publish = func(client mqtt.Client, topic string, payload *[]byte) {}
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ln, err := net.Listen("tcp", ":8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := ln.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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serialClient, err := net.Dial("tcp", "localhost:8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := serialClient.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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conn, err := ln.Accept()
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer func() {
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if err := conn.Close(); err != nil {
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t.Errorf("unable to close resource: %v", err)
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}
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}()
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a := Part{client: nil, serial: conn, pubFrequency: 100}
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go func() {
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err := a.Start()
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if err != nil {
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t.Errorf("unsable to start part: %v", err)
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t.Fail()
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}
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}()
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channel1, channel2, channel3, channel4, channel5, channel6, distanceCm := 678, 910, 1112, 1678, 1910, 112, 128
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cases := []struct {
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name, content string
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expectedThrottle, expectedSteering float32
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expectedDriveMode events.DriveMode
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expectedSwitchRecord bool
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}{
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{"Good value",
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fmt.Sprintf("12345,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Unparsable line",
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"12350,invalid line\n",
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-1., -1., events.DriveMode_USER, false},
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{"Switch record on",
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fmt.Sprintf("12355,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 998, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, true},
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{"Switch record off",
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fmt.Sprintf("12360,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1987, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Switch record off",
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fmt.Sprintf("12365,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1850, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Switch record on",
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fmt.Sprintf("12370,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, 1003, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, true},
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{"DriveMode: user",
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fmt.Sprintf("12375,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 998, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12380,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1987, distanceCm),
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-1., -1., events.DriveMode_PILOT, false},
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{"DriveMode: pilot",
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fmt.Sprintf("12385,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1850, distanceCm),
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-1., -1., events.DriveMode_PILOT, false},
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// DriveMode: user
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{"DriveMode: user",
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fmt.Sprintf("12390,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, 1003, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Sterring: over left",
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fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Sterring: left",
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fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", 998, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -0.93, events.DriveMode_USER, false},
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{"Sterring: middle",
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fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., -0.04, events.DriveMode_USER, false},
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{"Sterring: right",
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fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., 0.96, events.DriveMode_USER, false},
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{"Sterring: over right",
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fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm),
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-1., 1., events.DriveMode_USER, false},
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{"Throttle: over down",
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fmt.Sprintf("12420,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 99, channel3, channel4, channel5, channel6, distanceCm),
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-1., -1., events.DriveMode_USER, false},
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{"Throttle: down",
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fmt.Sprintf("12425,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 998, channel3, channel4, channel5, channel6, distanceCm),
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-0.95, -1., events.DriveMode_USER, false},
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{"Throttle: stop",
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fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm),
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-0.03, -1., events.DriveMode_USER, false},
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{"Throttle: up",
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fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm),
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0.99, -1., events.DriveMode_USER, false},
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{"Throttle: over up",
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fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm),
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1., -1., events.DriveMode_USER, false},
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}
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for _, c := range cases {
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w := bufio.NewWriter(serialClient)
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_, err := w.WriteString(c.content)
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if err != nil {
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t.Errorf("unable to send test content: %v", c.content)
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}
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err = w.Flush()
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if err != nil {
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t.Error("unable to flush content")
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}
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time.Sleep(10 * time.Millisecond)
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a.mutex.Lock()
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if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
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t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
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}
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if fmt.Sprintf("%0.2f", a.steering) != fmt.Sprintf("%0.2f", c.expectedSteering) {
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t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.steering)
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}
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if a.driveMode != c.expectedDriveMode {
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t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.driveMode)
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}
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if a.ctrlRecord != c.expectedSwitchRecord {
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t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
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}
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a.mutex.Unlock()
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}
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}
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func TestPublish(t *testing.T) {
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oldPublish := publish
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defer func() { publish = oldPublish }()
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var muPublishedEvents sync.Mutex
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pulishedEvents := make(map[string][]byte)
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publish = func(client mqtt.Client, topic string, payload *[]byte) {
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muPublishedEvents.Lock()
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defer muPublishedEvents.Unlock()
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pulishedEvents[topic] = *payload
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}
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ln, err := net.Listen("tcp", ":8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer ln.Close()
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client, err := net.Dial("tcp", "localhost:8080")
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer client.Close()
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conn, err := ln.Accept()
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if err != nil {
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t.Fatalf("unable to init connection for test")
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}
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defer conn.Close()
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pubFrequency := 100.
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a := Part{
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client: nil,
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serial: conn,
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pubFrequency: pubFrequency,
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throttleTopic: "car/part/arduino/throttle",
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steeringTopic: "car/part/arduino/steering",
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driveModeTopic: "car/part/arduino/drive_mode",
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switchRecordTopic: "car/part/arduino/switch_record",
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cancel: make(chan interface{}),
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}
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go a.Start()
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defer a.Stop()
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cases := []struct {
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throttle, steering float32
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driveMode events.DriveMode
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switchRecord bool
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expectedThrottle events.ThrottleMessage
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expectedSteering events.SteeringMessage
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expectedDriveMode events.DriveModeMessage
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expectedSwitchRecord events.SwitchRecordMessage
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}{
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{-1, 1, events.DriveMode_USER, true,
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events.ThrottleMessage{Throttle: -1., Confidence: 1.},
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events.SteeringMessage{Steering: 1.0, Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_USER},
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events.SwitchRecordMessage{Enabled: false},
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},
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{0, 0, events.DriveMode_PILOT, false,
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events.ThrottleMessage{Throttle: 0., Confidence: 1.},
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events.SteeringMessage{Steering: 0., Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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events.SwitchRecordMessage{Enabled: true},
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},
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{0.87, -0.58, events.DriveMode_PILOT, false,
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events.ThrottleMessage{Throttle: 0.87, Confidence: 1.},
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events.SteeringMessage{Steering: -0.58, Confidence: 1.},
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events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
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events.SwitchRecordMessage{Enabled: true},
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},
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}
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for _, c := range cases {
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a.mutex.Lock()
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a.throttle = c.throttle
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a.steering = c.steering
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a.driveMode = c.driveMode
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a.ctrlRecord = c.switchRecord
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a.mutex.Unlock()
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time.Sleep(time.Second / time.Duration(int(pubFrequency)))
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time.Sleep(500 * time.Millisecond)
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var throttleMsg events.ThrottleMessage
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muPublishedEvents.Lock()
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unmarshalMsg(t, pulishedEvents["car/part/arduino/throttle"], &throttleMsg)
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muPublishedEvents.Unlock()
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if throttleMsg.String() != c.expectedThrottle.String() {
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t.Errorf("msg(car/part/arduino/throttle): %v, wants %v", throttleMsg, c.expectedThrottle)
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}
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var steeringMsg events.SteeringMessage
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muPublishedEvents.Lock()
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unmarshalMsg(t, pulishedEvents["car/part/arduino/steering"], &steeringMsg)
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muPublishedEvents.Unlock()
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if steeringMsg.String() != c.expectedSteering.String() {
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t.Errorf("msg(car/part/arduino/steering): %v, wants %v", steeringMsg, c.expectedSteering)
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}
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var driveModeMsg events.DriveModeMessage
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muPublishedEvents.Lock()
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unmarshalMsg(t, pulishedEvents["car/part/arduino/drive_mode"], &driveModeMsg)
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muPublishedEvents.Unlock()
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if driveModeMsg.String() != c.expectedDriveMode.String() {
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t.Errorf("msg(car/part/arduino/drive_mode): %v, wants %v", driveModeMsg, c.expectedDriveMode)
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}
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var switchRecordMsg events.SwitchRecordMessage
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muPublishedEvents.Lock()
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unmarshalMsg(t, pulishedEvents["car/part/arduino/switch_record"], &switchRecordMsg)
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muPublishedEvents.Unlock()
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if switchRecordMsg.String() != c.expectedSwitchRecord.String() {
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t.Errorf("msg(car/part/arduino/switch_record): %v, wants %v", switchRecordMsg, c.expectedSwitchRecord)
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}
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}
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}
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func unmarshalMsg(t *testing.T, payload []byte, msg proto.Message) {
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err := proto.Unmarshal(payload, msg)
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if err != nil {
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t.Errorf("unable to unmarshal protobuf content to %T: %v", msg, err)
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}
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}
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