116 lines
4.0 KiB
Go
116 lines
4.0 KiB
Go
package part
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import (
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"github.com/cyrilix/robocar-base/testtools"
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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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"io/ioutil"
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"sync"
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"testing"
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"time"
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)
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func TestRecorder_RecordOff(t *testing.T) {
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oldRegister := registerCallBacks
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oldPublish := publish
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defer func() {
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registerCallBacks = oldRegister
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publish = oldPublish
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}()
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registerCallBacks = func(_ *Recorder) {}
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recordTopic := "topic/record"
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cameraTopic := "topic/camera"
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steeringTopic := "topic/steeringMsg"
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switchRecord := "topic/switch/record"
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var muEventsPublished sync.Mutex
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var eventsPublished *events.RecordMessage
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publish = func(client mqtt.Client, topic string, payload *[]byte) {
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if topic != recordTopic {
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t.Errorf("event published on bad topic: %v, wants %v", topic, recordTopic)
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return
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}
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muEventsPublished.Lock()
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defer muEventsPublished.Unlock()
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var msg events.RecordMessage
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err := proto.Unmarshal(*payload, &msg)
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if err != nil {
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t.Errorf("unable to record plublished event: %v", err)
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}
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eventsPublished = &msg
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}
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recorder := NewRecorder(nil, recordTopic, cameraTopic, steeringTopic, switchRecord)
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go func() {
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if err := recorder.Start(); err == nil {
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t.Fatalf("unable to start recorder: %v", err)
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}
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}()
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frame1 := loadImage(t, "testdata/img.jpg", "01")
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frame2 := loadImage(t, "testdata/img.jpg", "02")
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steeringRight := events.SteeringMessage{Steering: 0.5, Confidence: 1.0}
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steeringLeft := events.SteeringMessage{Steering: -0.5, Confidence: 1.0}
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cases := []struct {
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recordMsg *events.SwitchRecordMessage
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frameMsg *events.FrameMessage
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steeringMsg *events.SteeringMessage
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expectedRecordMsg *events.RecordMessage
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wait time.Duration
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}{
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{recordMsg: &events.SwitchRecordMessage{Enabled: false}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: nil, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringRight, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame1, steeringMsg: &steeringRight, expectedRecordMsg: &events.RecordMessage{Frame: frame1, Steering: &steeringRight}, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: nil, steeringMsg: &steeringLeft, expectedRecordMsg: nil, wait: 5 * time.Millisecond},
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{recordMsg: &events.SwitchRecordMessage{Enabled: true}, frameMsg: frame2, steeringMsg: &steeringLeft, expectedRecordMsg: &events.RecordMessage{Frame: frame2, Steering: &steeringLeft}, wait: 5 * time.Millisecond},
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}
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for _, c := range cases {
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muEventsPublished.Lock()
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eventsPublished = nil
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muEventsPublished.Unlock()
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if c.recordMsg != nil {
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recorder.onSwitchRecord(nil, testtools.NewFakeMessageFromProtobuf(recordTopic, c.recordMsg))
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}
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if c.frameMsg != nil {
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recorder.onFrame(nil, testtools.NewFakeMessageFromProtobuf(cameraTopic, c.frameMsg))
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}
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if c.steeringMsg != nil {
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recorder.onSteering(nil, testtools.NewFakeMessageFromProtobuf(steeringTopic, c.steeringMsg))
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}
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time.Sleep(c.wait)
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if c.expectedRecordMsg == nil && eventsPublished != nil {
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t.Errorf("unexpected published event: %v", eventsPublished)
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}
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if c.expectedRecordMsg.String() != eventsPublished.String() {
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t.Errorf("bad message published: %v, wants %v", eventsPublished, c.expectedRecordMsg)
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}
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}
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}
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func loadImage(t *testing.T, imgPath string, id string) *events.FrameMessage {
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jpegContent, err := ioutil.ReadFile(imgPath)
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if err != nil {
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t.Fatalf("unable to load image: %v", err)
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}
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msg := &events.FrameMessage{
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Id: &events.FrameRef{
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Name: imgPath,
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Id: id,
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},
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Frame: jpegContent,
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}
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return msg
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}
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