149 lines
6.0 KiB
Go
149 lines
6.0 KiB
Go
package arduino
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import (
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"bufio"
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"fmt"
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"net"
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"robocar/mode"
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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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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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a := ArduinoPart{serial: conn}
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go a.Run()
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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 mode.DriveMode
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expectedSwitchRecord bool
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expectedDistanceCm int
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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., mode.DriveModeUser, false, distanceCm},
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{"Unparsable line",
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"12350,invalid line\n",
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-1., -1., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, true, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, true, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModePilot, false, distanceCm},
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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., mode.DriveModePilot, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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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, mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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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., mode.DriveModeUser, false, distanceCm},
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{"Distance cm",
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fmt.Sprintf("12445,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, channel2, channel3, channel4, channel5, channel6, 43),
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-1., -1., mode.DriveModeUser, false, 43},
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}
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for _, c := range cases {
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w := bufio.NewWriter(client)
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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(1* 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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if a.distanceCm != c.expectedDistanceCm {
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t.Errorf("%s: bad distanceCm, expected: %v" +
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", actual:%v", c.name, c.expectedDistanceCm, a.distanceCm)
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}
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a.mutex.Unlock()
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}
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}
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