feat(brake): implement brake feature

pkg/brake/config_test.go

@@ -0,0 +1,132 @@
+package brake
+
+import (
+	"github.com/cyrilix/robocar-throttle/pkg/types"
+	"reflect"
+	"testing"
+)
+
+func TestNewConfigFromJson(t *testing.T) {
+	type args struct {
+		fileName string
+	}
+	tests := []struct {
+		name    string
+		args    args
+		want    *Config
+		wantErr bool
+	}{
+		{
+			name: "default config",
+			args: args{
+				fileName: "test_data/config.json",
+			},
+			want: &defaultBrakeConfig,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			got, err := NewConfigFromJson(tt.args.fileName)
+			if (err != nil) != tt.wantErr {
+				t.Errorf("NewConfigFromJson() error = %v, wantErr %v", err, tt.wantErr)
+				return
+			}
+			if !reflect.DeepEqual(*got, *tt.want) {
+				t.Errorf("NewConfigFromJson() got = %v, want %v", got, tt.want)
+			}
+			if !reflect.DeepEqual(got.DeltaSteps, tt.want.DeltaSteps) {
+				t.Errorf("NewConfigFromJson(), bad DeltaSteps: got = %v, want %v", got.DeltaSteps, tt.want.DeltaSteps)
+			}
+		})
+	}
+}
+
+func TestConfig_ValueOf(t *testing.T) {
+	type fields struct {
+		DeltaSteps []float32
+		MinValue   int
+		Data       []types.Throttle
+	}
+	type args struct {
+		currentThrottle, targetThrottle types.Throttle
+	}
+	tests := []struct {
+		name   string
+		fields fields
+		args   args
+		want   types.Throttle
+	}{
+		{
+			name: "delta > 0",
+			fields: fields{
+				DeltaSteps: defaultBrakeConfig.DeltaSteps,
+				Data:       defaultBrakeConfig.Data,
+			},
+			args: args{
+				currentThrottle: 0.5,
+				targetThrottle:  0.8,
+			},
+			want: 0.8,
+		},
+		{
+			name: "no delta",
+			fields: fields{
+				DeltaSteps: defaultBrakeConfig.DeltaSteps,
+				Data:       defaultBrakeConfig.Data,
+			},
+			args: args{
+				currentThrottle: 0.5,
+				targetThrottle:  0.5,
+			},
+			want: 0.5,
+		},
+		{
+			name: "delta very low (< 1st step)",
+			fields: fields{
+				DeltaSteps: defaultBrakeConfig.DeltaSteps,
+				Data:       defaultBrakeConfig.Data,
+			},
+			args: args{
+				currentThrottle: 0.5,
+				targetThrottle:  0.495,
+			},
+			want: 0.495,
+		},
+		{
+			name: "low delta ( 1st step < delta < 2nd step )",
+			fields: fields{
+				DeltaSteps: defaultBrakeConfig.DeltaSteps,
+				Data:       defaultBrakeConfig.Data,
+			},
+			args: args{
+				currentThrottle: 0.5,
+				targetThrottle:  0.38,
+			},
+			want: -0.1,
+		},
+		{
+			name: "high delta",
+			fields: fields{
+				DeltaSteps: defaultBrakeConfig.DeltaSteps,
+				Data:       defaultBrakeConfig.Data,
+			},
+			args: args{
+				currentThrottle: 0.8,
+				targetThrottle:  0.3,
+			},
+			want: -1.,
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			f := &Config{
+				DeltaSteps: tt.fields.DeltaSteps,
+				Data:       tt.fields.Data,
+			}
+			got := f.ValueOf(tt.args.currentThrottle, tt.args.targetThrottle)
+			if !reflect.DeepEqual(got, tt.want) {
+				t.Errorf("ValueOf() = %v, want %v", got, tt.want)
+			}
+		})
+	}
+}