119 lines
3.3 KiB
Go
119 lines
3.3 KiB
Go
package part
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import (
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"fmt"
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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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"github.com/golang/protobuf/ptypes/timestamp"
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log "github.com/sirupsen/logrus"
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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 TestRoadPart_OnFrame(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(_ *RoadPart) {}
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var muEventsPublished sync.Mutex
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eventsPublished := make(map[string][]byte)
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publish = func(client mqtt.Client, topic string, payload *[]byte) {
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muEventsPublished.Lock()
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defer muEventsPublished.Unlock()
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eventsPublished[topic] = *payload
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}
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cameraTopic := "topic/camera"
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roadTopic := "topic/road"
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rp := NewRoadPart(nil, 20, roadTopic)
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go func() {
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if err := rp.Start(); err != nil {
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t.Errorf("unable to start roadPart: %v", err)
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t.FailNow()
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}
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}()
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cases := []struct {
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name string
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msg mqtt.Message
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expectedCntr []*events.Point
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expectedEllipse events.Ellipse
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}{
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{
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name: "image1",
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msg: loadFrame(t, cameraTopic, "image"),
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expectedCntr: []*events.Point{&events.Point{X: 0, Y: int32(45)}, &events.Point{X: 0, Y: 127}, &events.Point{X: 144, Y: 127}, &events.Point{X: 95, Y: 21}, &events.Point{X: 43, Y: 21}},
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expectedEllipse: events.Ellipse{Center: &events.Point{X: 71, Y: 87,}, Width: 139, Height: 176, Angle: 92.66927, Confidence: 1.,},
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},
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}
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for _, c := range cases {
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rp.OnFrame(nil, c.msg)
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time.Sleep(20 * time.Millisecond)
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var roadMsg events.RoadMessage
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err := proto.Unmarshal(eventsPublished[roadTopic], &roadMsg)
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if err != nil {
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t.Errorf("unable to unmarshal response, bad return type: %v", err)
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continue
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}
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if len(roadMsg.Contour) != len(c.expectedCntr) {
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t.Errorf("[%v] bad nb point in road contour: %v, wants %v", c.name, len(roadMsg.Contour), len(c.expectedCntr))
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}
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for idx, pt := range roadMsg.Contour {
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if pt.String() != c.expectedCntr[idx].String() {
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t.Errorf("[%v] bad point at position %v: %v, wants %v", c.name, idx, pt, c.expectedCntr[idx])
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}
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}
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if roadMsg.Ellipse.String() != c.expectedEllipse.String() {
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t.Errorf("[%v] bad ellipse: %v, wants %v", c.name, roadMsg.Ellipse, c.expectedEllipse)
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}
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frameRef := frameRefFromPayload(c.msg.Payload())
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if frameRef.String() != roadMsg.GetFrameRef().String() {
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t.Errorf("[%v] invalid frameRef: %v, wants %v", c.name, roadMsg.GetFrameRef(), frameRef)
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}
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}
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}
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func frameRefFromPayload(payload []byte) *events.FrameRef {
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var msg events.FrameMessage
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err := proto.Unmarshal(payload, &msg)
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if err != nil {
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log.Errorf("unable to unmarchal %T msg: %v", msg, err)
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}
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return msg.GetId()
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}
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func loadFrame(t *testing.T, topic string, name string) mqtt.Message {
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img, err := ioutil.ReadFile(fmt.Sprintf("testdata/%s.jpg", name))
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if err != nil {
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t.Fatalf("unable to load data test image: %v", err)
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return nil
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}
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now := time.Now()
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msg := events.FrameMessage{
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Id: &events.FrameRef{
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Name: name,
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Id: name,
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CreatedAt: ×tamp.Timestamp{
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Seconds: now.Unix(),
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Nanos: int32(now.Nanosecond()),
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},
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},
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Frame: img,
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}
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return testtools.NewFakeMessageFromProtobuf(topic, &msg)
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}
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