[driveMode] Adjust throttle on driveMode events

part/part_test.go

@@ -2,35 +2,72 @@ package part
 
 import (
 	"encoding/json"
+	"github.com/cyrilix/robocar-base/mqttdevice"
 	"github.com/cyrilix/robocar-base/testtools"
+	"github.com/cyrilix/robocar-base/types"
 	"testing"
 	"time"
 )
 
-func TestDefaultThrottle(t *testing.T){
+func TestDefaultThrottle(t *testing.T) {
+	oldRegister := registerCallbacks
+	defer func(){
+		registerCallbacks = oldRegister
+	}()
+	registerCallbacks = func(p *ThrottlePart) error {
+		return nil
+	}
+
 	throttleTopic := "topic/throttle"
+	driveModeTopic := "topic/driveMode"
+	rcThrottleTopic := "topic/rcThrottle"
+
 	minValue := 0.56
 
 	pub := testtools.NewFakePublisher()
-	p := NewPart(pub, throttleTopic, minValue, 1.)
+	p := NewPart(nil, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
+
+	cases := []struct {
+		driveMode        types.DriveMode
+		rcThrottle       float64
+		expectedThrottle float64
+	}{
+		{types.DriveModeUser, 0.3, 0.3},
+		{types.DriveModePilot, 0.5, minValue},
+		{types.DriveModePilot, 0.4, minValue},
+		{types.DriveModeUser, 0.5, 0.5},
+		{types.DriveModeUser, 0.4, 0.4},
+		{types.DriveModeUser, 0.6, 0.6},
+	}
 
 	go p.Start()
-	defer p.Stop()
+	defer func(){close(p.cancel)}()
 
-	time.Sleep(1 * time.Millisecond)
+	for _, c := range cases {
 
-	mqttValue := pub.PublishedEvent(throttleTopic)
-	var throttle Throttle
-	err := json.Unmarshal(mqttValue, &throttle)
-	if err != nil {
-		t.Errorf("unable to unmarshall response: %v", err)
-		t.Fail()
-	}
+		p.onDriveMode(nil, testtools.NewFakeMessage(driveModeTopic, mqttdevice.NewMqttValue(c.driveMode)))
+		p.onRCThrottle(nil, testtools.NewFakeMessage(rcThrottleTopic, mqttdevice.NewMqttValue(c.rcThrottle)))
 
-	if throttle.Value != minValue {
-		t.Errorf("bad throttle value: %v, wants %v", throttle.Value, minValue)
-	}
-	if throttle.Confidence != 1. {
-		t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 1.)
+		time.Sleep(10 * time.Millisecond)
+
+		for i := 3; i >= 0; i-- {
+
+			mqttValue := pub.PublishedEvent(throttleTopic)
+			var throttle types.Throttle
+			err := json.Unmarshal(mqttValue, &throttle)
+			if err != nil {
+				t.Errorf("unable to unmarshall response: %v", err)
+				t.Fail()
+			}
+
+			if throttle.Value != c.expectedThrottle {
+				t.Errorf("bad throttle value for mode %v: %v, wants %v", c.driveMode, throttle.Value, c.expectedThrottle)
+			}
+			if throttle.Confidence != 1. {
+				t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 1.)
+			}
+
+			time.Sleep(1 * time.Millisecond)
+		}
 	}
 }