robocar-arduino/arduino/arduino_test.go

238 lines
9.1 KiB
Go

package arduino
import (
"bufio"
"fmt"
"github.com/cyrilix/robocar-base/mode"
"github.com/cyrilix/robocar-base/mqttdevice"
"net"
"sync"
"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, pubFrequency: 100, pub: &fakePublisher{msg: make(map[string]interface{})}}
go a.Start()
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},
{"Distance cm with \r",
fmt.Sprintf("12450,%d,%d,%d,%d,%d,%d,50,%d\r\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(5 * 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()
}
}
type fakePublisher struct {
muMsg sync.Mutex
msg map[string]interface{}
}
func (f *fakePublisher) Publish(topic string, payload mqttdevice.MqttValue) {
f.muMsg.Lock()
defer f.muMsg.Unlock()
f.msg[topic] = payload
}
func TestPublish(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()
pubFrequency := 100.
p := fakePublisher{msg: make(map[string]interface{})}
a := ArduinoPart{serial: conn, pub: &p, pubFrequency: pubFrequency, topicBase: "car/part/arduino/"}
go a.Start()
defer a.Stop()
cases := []struct {
throttle, steering float32
driveMode mode.DriveMode
switchRecord bool
distanceCm int
expectedThrottle, expectedSteering, expectedDriveMode, expectedSwitchRecord, expectedDistance mqttdevice.MqttValue
}{
{-1, 1, mode.DriveModeUser, false, 55,
"-1.00", "1.00", "user", "OFF", "55"},
{0, 0, mode.DriveModePilot, true, 43,
"0.00", "0.00", "pilot", "ON", "43"},
{0.87, -0.58, mode.DriveModePilot, true, 21,
"0.87", "-0.58", "pilot", "ON", "21"},
}
for _, c := range cases {
a.mutex.Lock()
a.throttle = c.throttle
a.steering = c.steering
a.driveMode = c.driveMode
a.ctrlRecord = c.switchRecord
a.distanceCm = c.distanceCm
a.mutex.Unlock()
time.Sleep(time.Second / time.Duration(int(pubFrequency)))
time.Sleep(500 * time.Millisecond)
p.muMsg.Lock()
if v := p.msg["car/part/arduino/throttle"]; v != c.expectedThrottle {
t.Errorf("msg(car/part/arduino/throttle): %v, wants %v", v, c.expectedThrottle)
}
if v := p.msg["car/part/arduino/steering"]; v != c.expectedSteering {
t.Errorf("msg(car/part/arduino/steering): %v, wants %v", v, c.expectedSteering)
}
if v := p.msg["car/part/arduino/drive_mode"]; v != c.expectedDriveMode {
t.Errorf("msg(car/part/arduino/drive_mode): %v, wants %v", v, c.expectedDriveMode)
}
if v := p.msg["car/part/arduino/switch_record"]; v != c.expectedSwitchRecord {
t.Errorf("msg(car/part/arduino/switch_record): %v, wants %v", v, c.expectedSwitchRecord)
}
if v := p.msg["car/part/arduino/distance_cm"]; v != c.expectedDistance {
t.Errorf("msg(car/part/arduino/distance_cm): %v, wants %v", v, c.expectedThrottle)
}
p.muMsg.Unlock()
}
}