robocar-simulator/pkg/gateway/controls_test.go

package gateway

import (
	"github.com/cyrilix/robocar-protobuf/go/events"
	"github.com/cyrilix/robocar-simulator/pkg/simulator"
	"testing"
	"time"
)


func TestGateway_Start(t *testing.T) {

	simulatorMock := Gw2SimMock{}
	err := simulatorMock.listen()
	if err != nil {
		t.Errorf("unable to start mock gw: %v", err)
	}
	defer func() {
		if err := simulatorMock.Close(); err != nil {
			t.Errorf("unable to stop simulator mock: %v", err)
		}
	}()

	carConfig := simulator.CarConfigMsg{
		MsgType:   simulator.MsgTypeCarConfig,
		BodyStyle: simulator.CarConfigBodyStyleCar01,
		CarName:   "car-test",
	}
	camConfig :=simulator.CamConfigMsg{
		MsgType:  simulator.MsgTypeCameraConfig,
		Fov:      "0",
		FishEyeX: "0",
		FishEyeY: "0",
		ImgW:     "120",
		ImgH:     "50",
		ImgD:     "0",
		ImgEnc:   simulator.CameraImageEncJpeg,
		OffsetX:  "0",
		OffsetY:  "0",
		OffsetZ:  "0",
		RotX:     "0",
	}
	gw, err := New(simulatorMock.Addr(),
		&carConfig,
		&simulator.RacerBioMsg{},
		&camConfig,
	)
	if err != nil {
		t.Fatalf("unable to init simulator gateway: %v", err)
	}
	go gw.Start()
	defer gw.Close()

	carNotify := simulatorMock.NotifyCar()
	select {
	case <- time.Tick(500 * time.Millisecond):
		t.Errorf("a car configuration message should be send")
	case msg := <-carNotify:
		if *msg != carConfig {
			t.Errorf("[carConfig] invalid car config: %v, wants %v", &msg, carConfig)
		}
	}
	camNotify := simulatorMock.NotifyCamera()
	select {
	case <- time.Tick(500 * time.Millisecond):
		t.Errorf("a camera configuration message should be send")
	case msg := <-camNotify:
		if *msg != camConfig {
			t.Errorf("[carConfig] invalid camera config: %v, wants %v", &msg, camConfig)
		}
	}

}

func TestGateway_WriteSteering(t *testing.T) {

	cases := []struct {
		name        string
		msg         *events.SteeringMessage
		previousMsg *simulator.ControlMsg
		expectedMsg simulator.ControlMsg
	}{
		{"First Message",
			&events.SteeringMessage{Steering: 0.5, Confidence: 1},
			nil,
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.50",
				Throttle: "0.0",
				Brake:    "0.0",
			}},
		{"Update steering",
			&events.SteeringMessage{Steering: -0.5, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.0",
				Brake:    "0.0",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "-0.50",
				Throttle: "0.0",
				Brake:    "0.0",
			}},
		{"Update steering shouldn't erase throttle value",
			&events.SteeringMessage{Steering: -0.3, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.6",
				Brake:    "0.1",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "-0.30",
				Throttle: "0.6",
				Brake:    "0.1",
			}},
	}

	simulatorMock := Gw2SimMock{}
	err := simulatorMock.listen()
	if err != nil {
		t.Errorf("unable to start mock gw: %v", err)
	}
	defer func() {
		if err := simulatorMock.Close(); err != nil {
			t.Errorf("unable to stop simulator mock: %v", err)
		}
	}()

	gw, err := New(simulatorMock.Addr(),
		&simulator.CarConfigMsg{MsgType: simulator.MsgTypeCarConfig},
		&simulator.RacerBioMsg{},
		&simulator.CamConfigMsg{
		ImgH: "128",
		ImgW: "160",
		})
	if err != nil {
		t.Fatalf("unable to init simulator gateway: %v", err)
	}
	//go gw.Start()
	//defer gw.Close()
	//<- simulatorMock.NotifyCar()
	//<- simulatorMock.NotifyCamera()

	for _, c := range cases {
		gw.lastControl = c.previousMsg

		gw.WriteSteering(c.msg)

		ctrlMsg := <-simulatorMock.NotifyCtrl()
		if *ctrlMsg != c.expectedMsg {
			t.Errorf("[%v] bad messge received: %#v, wants %#v", c.name, ctrlMsg, c.expectedMsg)
		}
	}
}

func TestGateway_WriteThrottle(t *testing.T) {

	cases := []struct {
		name        string
		msg         *events.ThrottleMessage
		previousMsg *simulator.ControlMsg
		expectedMsg simulator.ControlMsg
	}{
		{"First Message",
			&events.ThrottleMessage{Throttle: 0.5, Confidence: 1},
			nil,
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.0",
				Throttle: "0.50",
				Brake:    "0.0",
			}},
		{"Update Throttle",
			&events.ThrottleMessage{Throttle: 0.6, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0",
				Throttle: "0.4",
				Brake:    "0",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0",
				Throttle: "0.60",
				Brake:    "0.0",
			}},
		{"Update steering shouldn't erase throttle value",
			&events.ThrottleMessage{Throttle: 0.3, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.6",
				Brake:    "0.0",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.30",
				Brake:    "0.0",
			}},
		{"Throttle to brake",
			&events.ThrottleMessage{Throttle: -0.7, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.6",
				Brake:    "0.0",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.0",
				Brake:    "0.70",
			}},
		{"Update brake",
			&events.ThrottleMessage{Throttle: -0.2, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.0",
				Brake:    "0.5",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.0",
				Brake:    "0.20",
			}},
		{"Brake to throttle",
			&events.ThrottleMessage{Throttle: 0.9, Confidence: 1},
			&simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.0",
				Brake:    "0.4",
			},
			simulator.ControlMsg{
				MsgType: simulator.MsgTypeControl,
				Steering: "0.2",
				Throttle: "0.90",
				Brake:    "0.0",
			}},
	}

	simulatorMock := Gw2SimMock{}
	err := simulatorMock.listen()
	if err != nil {
		t.Errorf("unable to start mock gw: %v", err)
	}
	defer func() {
		if err := simulatorMock.Close(); err != nil {
			t.Errorf("unable to stop simulator mock: %v", err)
		}
	}()

	gw, err := New(simulatorMock.Addr(), &simulator.CarConfigMsg{MsgType: simulator.MsgTypeCarConfig},
		&simulator.RacerBioMsg{},
		&simulator.CamConfigMsg{
			ImgH: "128",
			ImgW: "160",
		})

	if err != nil {
		t.Fatalf("unable to init simulator gateway: %v", err)
	}
	//go gw.Start()

	//<- simulatorMock.NotifyCar()
	//<- simulatorMock.NotifyCamera()

	for _, c := range cases {
		gw.lastControl = c.previousMsg

		gw.WriteThrottle(c.msg)

		ctrlMsg := <-simulatorMock.NotifyCtrl()
		if *ctrlMsg != c.expectedMsg {
			t.Errorf("[%v] bad messge received: %#v, wants %#v", c.name, ctrlMsg, c.expectedMsg)
		}
	}
}