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This commit is contained in:
Cyrille Nofficial 2022-08-29 11:42:25 +02:00
parent 25bea1aab3
commit 9f26b15c1e
1 changed files with 89 additions and 14 deletions
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103
pkg/steering/controller_test.go
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@ -160,18 +160,7 @@ func TestController_Start(t *testing.T) {
objectsTopic := "topic/objects" objectsTopic := "topic/objects"
type fields struct { type fields struct {
client mqtt.Client
steeringTopic string
muDriveMode sync.RWMutex
driveMode events.DriveMode driveMode events.DriveMode
cancel chan interface{}
driveModeTopic string
rcSteeringTopic string
tfSteeringTopic string
objectsTopic string
muObjects sync.RWMutex
objects []*events.Object
corrector *GridCorrector
enableCorrection bool enableCorrection bool
enableCorrectionOnUser bool enableCorrectionOnUser bool
} }
@ -193,9 +182,10 @@ func TestController_Start(t *testing.T) {
}{ }{
{ {
name: "On user drive mode, none correction", name: "On user drive mode, none correction",
fields: fields{ fields: fields{
driveMode: events.DriveMode_USER, driveMode: events.DriveMode_USER,
enableCorrection: false,
enableCorrectionOnUser: false,
}, },
msgEvents: msgEvents{ msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER}, driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
@ -207,6 +197,91 @@ func TestController_Start(t *testing.T) {
// Get rc value without correction // Get rc value without correction
want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0}, want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
}, },
{
name: "On pilot drive mode, none correction",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: false,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
},
{
name: "On pilot drive mode, correction enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On pilot drive mode, all corrections enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: true,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
{
name: "On user drive mode, only correction PILOT enabled",
fields: fields{
driveMode: events.DriveMode_PILOT,
enableCorrection: true,
enableCorrectionOnUser: false,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
},
{
name: "On user drive mode, all corrections enabled",
fields: fields{
driveMode: events.DriveMode_USER,
enableCorrection: true,
enableCorrectionOnUser: true,
},
msgEvents: msgEvents{
driveMode: events.DriveModeMessage{DriveMode: events.DriveMode_USER},
rcSteering: events.SteeringMessage{Steering: 0.3, Confidence: 1.0},
tfSteering: events.SteeringMessage{Steering: 0.4, Confidence: 1.0},
objects: events.ObjectsMessage{Objects: []*events.Object{&objectOnMiddleNear}},
},
correctionOnObject: 0.5,
// Get rc value without correction
want: events.SteeringMessage{Steering: 0.5, Confidence: 1.0},
},
} }
for _, tt := range tests { for _, tt := range tests {
@ -217,7 +292,7 @@ func TestController_Start(t *testing.T) {
WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}), WithCorrector(&StaticCorrector{delta: tt.correctionOnObject}),
) )
go c.Start() go c.Start()
defer c.Stop() time.Sleep(1 * time.Millisecond)
// Publish events and wait generation of new steering message // Publish events and wait generation of new steering message
waitPublish.Add(1) waitPublish.Add(1)